From 9b836e33c6d395c5d98339e64178a82f32eb59b9 Mon Sep 17 00:00:00 2001 From: Sai Harshita Neti Date: Tue, 28 Mar 2017 11:36:03 -0700 Subject: [PATCH 1/4] Fixed typo --- pr2_arm_control/src/pr2_arm_control/arm.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/pr2_arm_control/src/pr2_arm_control/arm.py b/pr2_arm_control/src/pr2_arm_control/arm.py index 36c8b49..a3a0594 100644 --- a/pr2_arm_control/src/pr2_arm_control/arm.py +++ b/pr2_arm_control/src/pr2_arm_control/arm.py @@ -59,7 +59,8 @@ def __init__(self, arm_index, tf_listener): rospy.wait_for_service(switch_controller) self.switch_service = rospy.ServiceProxy(switch_controller, SwitchController) - rospy.loginfo('Got response form the switch controller for ' + rospy.loginfo('Got response from the switch controller for ' + + self.side() + ' arm.') # # Create a trajectory action client @@ -68,7 +69,7 @@ def __init__(self, arm_index, tf_listener): self.traj_action_client = SimpleActionClient( traj_controller_name, JointTrajectoryAction) self.traj_action_client.wait_for_server() - rospy.loginfo('Got response form trajectory action server for ' + rospy.loginfo('Got response from trajectory action server for ' + self.side() + ' arm.') # Set up Inversse Kinematics @@ -83,7 +84,8 @@ def __init__(self, arm_index, tf_listener): self.gripper_client = SimpleActionClient(gripper_name, Pr2GripperCommandAction) self.gripper_client.wait_for_server() - rospy.loginfo('Got response form gripper server for ' + rospy.loginfo('Got response from gripper server for ' + + self.side() + ' arm.') self.check_gripper_state() From 942a884e9bb748c9ef41b321d15972d011550c58 Mon Sep 17 00:00:00 2001 From: Sai Harshita Neti Date: Tue, 28 Mar 2017 11:54:24 -0700 Subject: [PATCH 2/4] Removed blank lines --- pr2_arm_control/src/pr2_arm_control/arm.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/pr2_arm_control/src/pr2_arm_control/arm.py b/pr2_arm_control/src/pr2_arm_control/arm.py index a3a0594..7935bbf 100644 --- a/pr2_arm_control/src/pr2_arm_control/arm.py +++ b/pr2_arm_control/src/pr2_arm_control/arm.py @@ -60,7 +60,6 @@ def __init__(self, arm_index, tf_listener): self.switch_service = rospy.ServiceProxy(switch_controller, SwitchController) rospy.loginfo('Got response from the switch controller for ' - + self.side() + ' arm.') # # Create a trajectory action client @@ -85,7 +84,6 @@ def __init__(self, arm_index, tf_listener): Pr2GripperCommandAction) self.gripper_client.wait_for_server() rospy.loginfo('Got response from gripper server for ' - + self.side() + ' arm.') self.check_gripper_state() From 9358addcc836436503a9afe9d59e07b351fd4896 Mon Sep 17 00:00:00 2001 From: Sai Harshita Neti Date: Tue, 2 May 2017 16:54:35 -0700 Subject: [PATCH 3/4] Set velocity as a parameter --- pr2_arm_control/src/pr2_arm_control/arm.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pr2_arm_control/src/pr2_arm_control/arm.py b/pr2_arm_control/src/pr2_arm_control/arm.py index 7935bbf..4f772a6 100644 --- a/pr2_arm_control/src/pr2_arm_control/arm.py +++ b/pr2_arm_control/src/pr2_arm_control/arm.py @@ -333,7 +333,7 @@ def get_time_to_pose(self, target_pose): return time_to_pose @staticmethod - def _get_time_bw_poses(pose0, pose1, velocity=0.2): + def _get_time_bw_poses(pose0, pose1, velocity): '''Determines how much time should be allowed for moving between pose0 and pose1 at velocity. From a0a1ccc82c42fd8db4162bea9e3ac811b6591565 Mon Sep 17 00:00:00 2001 From: Sai Harshita Neti Date: Tue, 2 May 2017 17:23:53 -0700 Subject: [PATCH 4/4] update velocity parameter name --- pr2_arm_control/src/pr2_arm_control/arm.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pr2_arm_control/src/pr2_arm_control/arm.py b/pr2_arm_control/src/pr2_arm_control/arm.py index 4f772a6..4f1058f 100644 --- a/pr2_arm_control/src/pr2_arm_control/arm.py +++ b/pr2_arm_control/src/pr2_arm_control/arm.py @@ -333,7 +333,7 @@ def get_time_to_pose(self, target_pose): return time_to_pose @staticmethod - def _get_time_bw_poses(pose0, pose1, velocity): + def _get_time_bw_poses(pose0, pose1, pbd_arm_velocity): '''Determines how much time should be allowed for moving between pose0 and pose1 at velocity.