From bf49d4bf7e54ca1e4a7c2a2f287a5e5b5f936f59 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Fri, 15 Sep 2023 02:26:53 -0400 Subject: [PATCH] Add get_mode to HelloNode --- hello_helpers/src/hello_helpers/hello_misc.py | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/hello_helpers/src/hello_helpers/hello_misc.py b/hello_helpers/src/hello_helpers/hello_misc.py index b556cca..ed4892f 100644 --- a/hello_helpers/src/hello_helpers/hello_misc.py +++ b/hello_helpers/src/hello_helpers/hello_misc.py @@ -72,6 +72,7 @@ class HelloNode: self._joint_state = None self._point_cloud = None self._tool = None + self._mode = None self.dryrun = False @classmethod @@ -89,6 +90,9 @@ class HelloNode: def _tool_callback(self, tool_string): self._tool = tool_string.data + def _mode_callback(self, mode_string): + self._mode = mode_string.data + def move_to_pose(self, pose, return_before_done=False, custom_contact_thresholds=False, custom_full_goal=False): if self.dryrun: return @@ -185,6 +189,14 @@ class HelloNode: joint_effort = self._joint_states.effort[i] return (joint_position, joint_velocity, joint_effort) + def get_tool(self): + assert(self._tool is not None) + return self._tool + + def get_mode(self): + assert(self._mode is not None) + return self._mode + def home_the_robot(self): if self.dryrun: return @@ -209,10 +221,6 @@ class HelloNode: rospy.logdebug(f"{self.node_name}'s HelloNode.stop_the_robot: got message {trigger_result.message}") return trigger_result.success - def get_tool(self): - assert(self._tool is not None) - return self._tool - def main(self, node_name, node_topic_namespace, wait_for_first_pointcloud=True): rospy.init_node(node_name) self.node_name = rospy.get_name() @@ -230,9 +238,10 @@ class HelloNode: self._tf2_listener = tf2_ros.TransformListener(self._tf2_buffer) self._tool_subscriber = rospy.Subscriber('/tool', String, self._tool_callback) + self._mode_subscriber = rospy.Subscriber('/mode', String, self._mode_callback) self._point_cloud_subscriber = rospy.Subscriber('/camera/depth/color/points', PointCloud2, self._point_cloud_callback) - self.point_cloud_pub = rospy.Publisher('/' + node_topic_namespace + '/point_cloud2', PointCloud2, queue_size=1) + self._point_cloud_pub = rospy.Publisher('/' + node_topic_namespace + '/point_cloud2', PointCloud2, queue_size=1) rospy.wait_for_service('/home_the_robot') rospy.wait_for_service('/stow_the_robot')