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async gripper command sender

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This commit is contained in:
Ilya Uraev 2025-05-23 20:07:28 +03:00
parent 2165c48415
commit aa04898d87
1 changed files with 50 additions and 43 deletions
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93
node.py
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@ -1,6 +1,7 @@
#!/usr/bin/env python3
import rclpy
import asyncio
from rclpy.node import Node
from std_msgs.msg import Float64MultiArray
from sensor_msgs.msg import JointState
@ -24,33 +25,31 @@ class RobotControllerNode(Node):
self.robot_client = RobotClient(HOST, PORT)
self.get_logger().info("Robot client connected")
# Настройка скорости и ускорения
self.robot_client.set_end_max_line_velc(0.6)
self.robot_client.set_end_max_line_acc(0.8)
self.gripper_joint_name = "left_outer_knuckle_joint" # Укажите правильное имя joint'а
self.gripper_joint_name = "left_outer_knuckle_joint"
self.sequence_step = 0
self.waiting_for_gripper = False
# Запуск основного сценария через таймер
self.timer = self.create_timer(
1.0, self.run_sequence
) # Задержка 1 сек для инициализации
self.timer = self.create_timer(1.0, self.run_sequence)
def js_callback(self, msg: JointState):
self.last_js = msg
def send_gripper_command(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0):
async def send_gripper_command(
self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0
):
msg = Float64MultiArray()
msg.data = [target_pose]
self.pub.publish(msg)
self.get_logger().info(f"Sent gripper pose: {target_pose}")
# Ждём данных от joint_states
start_time = time.time()
while rclpy.ok():
rclpy.spin_once(self, timeout_sec=0.1)
while time.time() - start_time < timeout:
joint_name_list = list(self.last_js.name) if self.last_js.name else []
joint_position_list = list(self.last_js.position) if self.last_js.position else []
joint_position_list = (
list(self.last_js.position) if self.last_js.position else []
)
if self.gripper_joint_name in joint_name_list:
index = joint_name_list.index(self.gripper_joint_name)
@ -58,20 +57,25 @@ class RobotControllerNode(Node):
if index < len(joint_position_list):
current_pose = joint_position_list[index]
if abs(current_pose - target_pose) < tolerance:
self.get_logger().info(f"Gripper reached pose: {current_pose:.3f}")
self.get_logger().info(
f"Gripper reached pose: {current_pose:.3f}"
)
return True
else:
self.get_logger().warn("Gripper joint index out of bounds in position list")
self.get_logger().warn("Gripper joint index out of bounds")
else:
self.get_logger().warn(f"Gripper joint '{self.gripper_joint_name}' not found in joint_states")
return False
self.get_logger().warn(
f"Joint {self.gripper_joint_name} not in joint_states"
)
if time.time() - start_time > timeout:
self.get_logger().warn("Timeout waiting for gripper to reach position")
return False
await asyncio.sleep(0.1)
self.get_logger().warn("Timeout waiting for gripper")
return False
def run_sequence(self):
print(f"STEP #{self.sequence_step}")
if self.sequence_step == 0:
self.get_logger().info("Moving to pre-grasp")
self.robot_client.move_to_pose_joint(config["pre_grasp_position"])
@ -83,9 +87,9 @@ class RobotControllerNode(Node):
self.sequence_step += 1
elif self.sequence_step == 2:
if self.send_gripper_command(target_pose=0.582, timeout=10.0, tolerance=0.1):
self.get_logger().info("Gripper closed")
self.sequence_step += 1
if not self.waiting_for_gripper:
self.waiting_for_gripper = True
asyncio.create_task(self.handle_gripper_step(0.582, 0.1, 10.0))
elif self.sequence_step == 3:
self.get_logger().info("Moving to post-grasp")
@ -93,50 +97,53 @@ class RobotControllerNode(Node):
self.sequence_step += 1
elif self.sequence_step == 4:
self.get_logger().info("Moving to pre_insert_position")
self.get_logger().info("Moving to pre-insert")
self.robot_client.move_to_pose_cart(config["pre_insert_position"])
self.sequence_step += 1
elif self.sequence_step == 5:
self.get_logger().info("Moving to insert_position")
self.get_logger().info("Moving to insert")
self.robot_client.move_to_pose_joint(config["insert_position"])
self.sequence_step += 1
elif self.sequence_step == 6:
self.get_logger().info("Moving to post_insert_position")
self.get_logger().info("Moving to post-insert")
self.robot_client.move_to_pose_joint(config["post_insert_position"])
self.sequence_step += 1
elif self.sequence_step == 7:
if self.send_gripper_command(target_pose=0.54, timeout=10.0):
self.get_logger().info("Gripper closed")
self.sequence_step += 1
if not self.waiting_for_gripper:
self.waiting_for_gripper = True
asyncio.create_task(self.handle_gripper_step(0.54, 0.01, 10.0))
#
# ... и так далее для остальных шагов
elif self.sequence_step >= 8: # Измените на последний шаг + 1
elif self.sequence_step >= 8:
self.get_logger().info("Sequence complete")
self.robot_client.close()
self.destroy_timer(self.timer)
async def handle_gripper_step(self, pose, tolerance, timeout):
if await self.send_gripper_command(pose, tolerance, timeout):
self.get_logger().info("Gripper action successful")
self.sequence_step += 1
else:
self.get_logger().warn("Gripper action failed or timed out")
self.waiting_for_gripper = False
def main(args=None):
rclpy.init(args=args)
node = RobotControllerNode()
# Обязательно многопоточный исполнитель!
executor = rclpy.executors.MultiThreadedExecutor()
executor.add_node(node)
loop = asyncio.get_event_loop()
try:
node = RobotControllerNode()
executor = rclpy.executors.MultiThreadedExecutor()
executor.add_node(node)
try:
executor.spin()
finally:
node.destroy_node()
except Exception as e:
print(f"Fatal error: {str(e)}")
loop.run_until_complete(loop.run_in_executor(None, executor.spin))
finally:
node.destroy_node()
rclpy.shutdown()