Skip to content

Changed warnings to infos, made it easier to uncomment arm 0 pos #15

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Kukanani wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Changed warnings to infos, made it easier to uncomment arm 0 pos #15

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion hlpr_gazebo/launch/vector_controllers.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,8 @@
<!-- Setup initial simulation positions -->
<node name="r_sim_setup" pkg="hlpr_gazebo" type="body_part_setup.py" output="screen"
args="vector/right_arm">
<!--param name="init_position" value="0, 3.14, 3.14, 0, 0, 0"/ ZERO CONFIG (straight out)-->
<!-- ZERO CONFIG (straight out) -->
<!-- <param name="init_position" value="0, 3.14, 3.14, 0, 0, 0"/> -->
<param name="init_position" value="-1.92, 1.50, 0.53, -2.50, -2.91, 0.72"/>
</node>

Expand Down
6 changes: 3 additions & 3 deletions hlpr_gazebo/src/vector_control_interface.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -131,15 +131,15 @@ def __init__(self):
self.gripper_cmd[self.RIGHT_KEY] = None

# Initialize components for moveit IK service
rospy.logwarn("Waiting for MoveIt! for 10 seconds...")
rospy.loginfo("Waiting for MoveIt! for 10 seconds...")
try:
rospy.wait_for_service('compute_ik', timeout=10.0) # Wait for 10 seconds and assumes we don't want IK
self.compute_ik = rospy.ServiceProxy('compute_ik', GetPositionIK)
except rospy.ROSException, e:
rospy.logwarn("MoveIt was not loaded and arm teleop will not be available")
rospy.loginfo("MoveIt was not loaded and arm teleop will not be available")
self.compute_ik = None
else:
rospy.logwarn("MoveIt detected")
rospy.loginfo("MoveIt detected")
self.eef_sub = rospy.Subscriber('/vector/right_arm/cartesian_vel_cmd', JacoCartesianVelocityCmd, self.EEFCallback, queue_size=1)

rospy.loginfo("Done Init")
Expand Down