151 lines
5.6 KiB
Python
151 lines
5.6 KiB
Python
#!/usr/bin/env python3
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import Float64MultiArray
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from sensor_msgs.msg import JointState
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from utils import RobotClient
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import time
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from main import config, HOST, PORT
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import asyncio
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class RobotControllerNode(Node):
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def __init__(self):
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super().__init__("robot_controller_node")
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self.pub = self.create_publisher(
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Float64MultiArray, "/forward_position_controller/commands", 10
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)
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self.js_sub = self.create_subscription(
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JointState, "/joint_states", self.js_callback, 10
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)
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self.last_js = JointState()
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self.robot_client = RobotClient(HOST, PORT)
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self.get_logger().info("Robot client connected")
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# Настройка скорости и ускорения
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self.robot_client.set_end_max_line_velc(0.6)
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self.robot_client.set_end_max_line_acc(0.8)
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self.gripper_joint_name = "left_outer_knuckle_joint" # Укажите правильное имя joint'а
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self.sequence_step = 0
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# Запуск основного сценария через таймер
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self.timer = self.create_timer(
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1.0, self.run_sequence
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) # Задержка 1 сек для инициализации
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def js_callback(self, msg: JointState):
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self.last_js = msg
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def send_gripper_command(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0):
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# Создаем и запускаем асинхронную задачу
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return asyncio.get_event_loop().run_until_complete(
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self.send_gripper_command_async(target_pose, tolerance, timeout)
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)
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async def send_gripper_command_async(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0):
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msg = Float64MultiArray()
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msg.data = [target_pose]
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self.pub.publish(msg)
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self.get_logger().info(f"Sent gripper pose: {target_pose}")
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# Ждём данных от joint_states
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start_time = time.time()
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while rclpy.ok():
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rclpy.spin_once(self, timeout_sec=0.1)
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joint_name_list = list(self.last_js.name) if self.last_js.name else []
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joint_position_list = list(self.last_js.position) if self.last_js.position else []
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if self.gripper_joint_name in joint_name_list:
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index = joint_name_list.index(self.gripper_joint_name)
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if index < len(joint_position_list):
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current_pose = joint_position_list[index]
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if abs(current_pose - target_pose) < tolerance:
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self.get_logger().info(f"Gripper reached pose: {current_pose:.3f}")
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return True
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else:
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self.get_logger().warn("Gripper joint index out of bounds in position list")
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else:
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self.get_logger().warn(f"Gripper joint '{self.gripper_joint_name}' not found in joint_states")
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return False
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if time.time() - start_time > timeout:
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self.get_logger().warn("Timeout waiting for gripper to reach position")
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return False
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def run_sequence(self):
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print(f"STEP #{self.sequence_step}")
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if self.sequence_step == 0:
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self.get_logger().info("Moving to pre-grasp")
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self.robot_client.move_to_pose_joint(config["pre_grasp_position"])
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self.sequence_step += 1
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elif self.sequence_step == 1:
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self.get_logger().info("Moving to grasp")
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self.robot_client.move_to_pose_cart(config["grasp_position"])
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self.sequence_step += 1
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elif self.sequence_step == 2:
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if self.send_gripper_command(target_pose=0.582, timeout=10.0, tolerance=0.1):
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self.get_logger().info("Gripper closed")
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self.sequence_step += 1
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elif self.sequence_step == 3:
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self.get_logger().info("Moving to post-grasp")
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self.robot_client.move_to_pose_cart(config["post_grasp_position"])
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self.sequence_step += 1
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elif self.sequence_step == 4:
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self.get_logger().info("Moving to pre_insert_position")
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self.robot_client.move_to_pose_cart(config["pre_insert_position"])
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self.sequence_step += 1
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elif self.sequence_step == 5:
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self.get_logger().info("Moving to insert_position")
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self.robot_client.move_to_pose_joint(config["insert_position"])
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self.sequence_step += 1
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elif self.sequence_step == 6:
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self.get_logger().info("Moving to post_insert_position")
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self.robot_client.move_to_pose_joint(config["post_insert_position"])
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self.sequence_step += 1
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elif self.sequence_step == 7:
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if self.send_gripper_command(target_pose=0.54, timeout=10.0):
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self.get_logger().info("Gripper closed")
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self.sequence_step += 1
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#
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# ... и так далее для остальных шагов
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elif self.sequence_step >= 8: # Измените на последний шаг + 1
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self.get_logger().info("Sequence complete")
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self.robot_client.close()
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self.destroy_timer(self.timer)
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def main(args=None):
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rclpy.init(args=args)
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try:
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node = RobotControllerNode()
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executor = rclpy.executors.MultiThreadedExecutor()
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executor.add_node(node)
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try:
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executor.spin()
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finally:
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node.destroy_node()
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except Exception as e:
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print(f"Fatal error: {str(e)}")
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finally:
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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