Fixed indentation error and updated the recommend joint list.

src/single_joint_actuator.py

@@ -23,79 +23,68 @@ class SingleJointActuator(hm.HelloNode):
 	def __init__(self):
 		hm.HelloNode.__init__(self)
 
-    def issue_command(self):
-        """
-        Function that makes an action call and sends multiple joint trajectory goals
-        to a single joint
-        :param self: The self reference.
-        """
-        # Set trajectory_goal as a FollowJointTrajectoryGoal and define
-        # the joint name. Here is a list of joints and their position
-        # limits:
-        ############################# Joint limits #############################
-        # joint_lift:      lower_limit =  0.00,  upper_limit =  1.10   # in meters
-        # wrist_extension: lower_limit =  0.00,  upper_limit =  0.51   # in meters
-        # joint_wrist_yaw: lower_limit = -1.75,  upper_limit =  4.00   # in radians
-        # joint_gripper_finger_left:  lower_limit = -0.60,  upper_limit =  0.60  # in radians
-        # joint_gripper_finger_right: lower_limit = -0.60,  upper_limit =  0.60  # in radians
-        # joint_head_pan:  lower_limit = -3.90, upper_limit =  1.50  # in radians
-        # joint_head_tilt: lower_limit = -1.53, upper_limit =  0.79  # in radians
-        ########################################################################
-        trajectory_goal = FollowJointTrajectoryGoal()
-        trajectory_goal.trajectory.joint_names = ['wrist_extension']
-
-        # Provide desired positions for joint name.
-        # Set positions for the following 5 trajectory points.
-        point0 = JointTrajectoryPoint()
-        point0.positions = [0.0]
-
-        point1 = JointTrajectoryPoint()
-        point1.positions = [0.1]
-
-        point2 = JointTrajectoryPoint()
-        point2.positions = [0.2]
-
-        point3 = JointTrajectoryPoint()
-        point3.positions = [0.3]
-
-        point4 = JointTrajectoryPoint()
-        point4.positions = [0.2]
-
-        point5 = JointTrajectoryPoint()
-        point5.positions = [0.1]
-
-        # Then trajectory_goal.trajectory.points is set as a list of the joint
-        # trajectory points
-        trajectory_goal.trajectory.points = [point0, point1, point2, point3, point4, point5]
-
-        # Specify the coordinate frame that we want (base_link) and set the time to be now.
-        trajectory_goal.trajectory.header.stamp = rospy.Time(0.0)
-        trajectory_goal.trajectory.header.frame_id = 'base_link'
-
-        # Make the action call and send the goal. The last line of code waits
-        # for the result before it exits the python script.
-        self.trajectory_client.send_goal(trajectory_goal)
-        rospy.loginfo('Sent stow goal = {0}'.format(trajectory_goal))
-        self.trajectory_client.wait_for_result()
-
-    def main(self):
-        """
-        Function that initiates the issue_command function.
-        :param self: The self reference.
-        """
-        # The arguments of the main function of the hm.HelloNode class are the
-        # node_name, node topic namespace, and boolean (default value is true).
-        hm.HelloNode.main(self, 'issue_command', 'issue_command', wait_for_first_pointcloud=False)
-        rospy.loginfo('issuing command...')
-        self.issue_command()
-        time.sleep(2)
+	def issue_command(self):
+		"""
+		Function that makes an action call and sends joint trajectory goals
+		to a single joint
+		:param self: The self reference.
+		"""
+		# Here is a list of joints and their recommended position limits:
+		############################# Joint limits #############################
+		# joint_lift:      lower_limit =  0.00,  upper_limit =  1.10   # in meters
+		# wrist_extension: lower_limit =  0.00,  upper_limit =  0.50   # in meters
+		# joint_wrist_yaw: lower_limit = -1.75,  upper_limit =  4.00   # in radians
+		# joint_gripper_finger_left:  lower_limit = -0.35,  upper_limit =  0.165  # in radians
+		# joint_gripper_finger_right: lower_limit = -0.35,  upper_limit =  0.165  # in radians
+		# joint_head_pan:  lower_limit = -2.80, upper_limit =  2.90  # in radians
+		# joint_head_tilt: lower_limit = -1.60, upper_limit =  0.40  # in radians
+		########################################################################
+
+		# Set trajectory_goal as a FollowJointTrajectoryGoal and define
+		# the joint name.
+		trajectory_goal = FollowJointTrajectoryGoal()
+		trajectory_goal.trajectory.joint_names = ['joint_lift']
+
+		# Provide desired positions for joint name.
+		# Set positions for the following 5 trajectory points.
+		point0 = JointTrajectoryPoint()
+		point0.positions = [0.65]
+
+		# point1 = JointTrajectoryPoint()
+		# point1.positions = [0.5]
+
+		# Then trajectory_goal.trajectory.points is set as a list of the joint
+		# trajectory points
+		trajectory_goal.trajectory.points = [point0]#, point1]
+
+		# Specify the coordinate frame that we want (base_link) and set the time to be now.
+		trajectory_goal.trajectory.header.stamp = rospy.Time(0.0)
+		trajectory_goal.trajectory.header.frame_id = 'base_link'
+
+		# Make the action call and send the goal. The last line of code waits
+		# for the result before it exits the python script.
+		self.trajectory_client.send_goal(trajectory_goal)
+		rospy.loginfo('Sent stow goal = {0}'.format(trajectory_goal))
+		self.trajectory_client.wait_for_result()
+
+	def main(self):
+		"""
+		Function that initiates the issue_command function.
+		:param self: The self reference.
+		"""
+		# The arguments of the main function of the hm.HelloNode class are the
+		# node_name, node topic namespace, and boolean (default value is true).
+		hm.HelloNode.main(self, 'issue_command', 'issue_command', wait_for_first_pointcloud=False)
+		rospy.loginfo('issuing command...')
+		self.issue_command()
+		time.sleep(2)
 
 
 if __name__ == '__main__':
-    try:
-        # Initialize the MultiPointCommand() class and set it to node and run the
-        # main() function.
-        node = MultiPointCommand()
-        node.main()
-    except KeyboardInterrupt:
-        rospy.loginfo('interrupt received, so shutting down')
+	try:
+	# Initialize the MultiPointCommand() class and set it to node and run the
+	# main() function.
+		node = SingleJointActuator()
+		node.main()
+	except KeyboardInterrupt:
+		rospy.loginfo('interrupt received, so shutting down')