add ros2 node

node.py

@@ -0,0 +1,117 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float32MultiArray
+from sensor_msgs.msg import JointState
+from utils import RobotClient
+import time
+from main import config, HOST, PORT
+
+
+class RobotControllerNode(Node):
+    def __init__(self):
+        super().__init__("robot_controller_node")
+
+        self.pub = self.create_publisher(
+            Float32MultiArray, "/forward_position_controller/commands", 10
+        )
+        self.js_sub = self.create_subscription(
+            JointState, "/joint_states", self.js_callback, 10
+        )
+        self.last_js = JointState()
+
+        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 = "gripper_joint"  # Укажите правильное имя joint'а
+
+        # Запуск основного сценария через таймер
+        self.timer = self.create_timer(
+            1.0, self.run_sequence
+        )  # Задержка 1 сек для инициализации
+        self.sequence_step = 0
+
+    def js_callback(self, msg: JointState):
+        self.last_js = msg
+
+    def send_gripper_pose(
+        self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0
+    ):
+        msg = Float32MultiArray()
+        msg.data = [target_pose]
+        self.pub.publish(msg)
+        self.get_logger().info(f"Sent gripper pose: {target_pose}")
+
+        start_time = time.time()
+        while rclpy.ok():
+            if not self.last_js.name:
+                rclpy.spin_once(self, timeout_sec=0.1)
+                continue
+
+            try:
+                index = self.last_js.name.index(self.gripper_joint_name)
+                current_pose = self.last_js.position[index]
+                if abs(current_pose - target_pose) < tolerance:
+                    self.get_logger().info(f"Gripper reached pose: {current_pose:.3f}")
+                    return True
+            except ValueError:
+                self.get_logger().warn(
+                    "Gripper joint name not found in joint_states", once=True
+                )
+
+            if time.time() - start_time > timeout:
+                self.get_logger().warn("Timeout waiting for gripper to reach position")
+                return False
+
+            rclpy.spin_once(self, timeout_sec=0.1)
+        return False
+
+    def run_sequence(self):
+        if self.sequence_step == 0:
+            self.get_logger().info("Moving to pre-grasp")
+            self.robot_client.move_to_pose_joint(config["pre_grasp_position"])
+            self.sequence_step += 1
+
+        elif self.sequence_step == 1:
+            self.get_logger().info("Moving to grasp")
+            self.robot_client.move_to_pose_cart(config["grasp_position"])
+            self.sequence_step += 1
+
+        elif self.sequence_step == 2:
+            self.get_logger().info("Closing gripper")
+            if self.send_gripper_pose(1.0):
+                self.sequence_step += 1
+                time.sleep(1.0)
+
+        # elif self.sequence_step == 3:
+        #     self.get_logger().info("Moving to post-grasp")
+        #     self.robot_client.move_to_pose_cart(config["post_grasp_position"])
+        #     self.sequence_step += 1
+        #
+        # ... и так далее для остальных шагов
+
+        elif self.sequence_step >= 3:  # Измените на последний шаг + 1
+            self.get_logger().info("Sequence complete")
+            self.robot_client.close()
+            self.destroy_timer(self.timer)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = RobotControllerNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.robot_client.close()
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()