Support more gbs cmnds

catkin_ws/src/gbs/scripts/test_client_synch_rs_v3.py

@@ -231,19 +231,19 @@ def test():
         print 'Current robot pose ['+str(ans.p.j1)+','+str(ans.p.j2)+','+str(ans.p.j3)+','+str(ans.p.j4)+','+str(ans.p.j5)+','+str(ans.p.j6)+']'
         ans = locktool(gbs_locktool)
         ans = unlocktool(gbs_unlocktool)
-        #ans = measuremove(gbs_measuremove, 111, 10, 11, 12, 35, 0, 0, 10, 6)
-        #ans = naillinmove(gbs_naillinmove, 1, 1, 3, 3, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
+        ans = measuremove(gbs_measuremove, 1, 0, 0, 0, 0, 5, 0, 1, 1)
+        ans = naillinmove(gbs_naillinmove, 1, 1, 1, 1, 0, 0, -0.6, math.radians(0), math.radians(0), math.radians(-175), 2, 0, -0.6, math.radians(0), math.radians(0), math.radians(-175))
         #ans = circmove(gbs_circmove, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 10, 5)
         #ans = combmove(gbs_combmove, (1, 0,0,0,0,0,0,10,5,  10, 100,0,0,35,0,0,15,25,35,1,2,3,10,5,  2, 1,2,3,4,5,6,10,5))
-        #ans = runspindle(gbs_runspindle, 5000)
-        #ans = stopspindle(gbs_stopspindle)
-        #ans = lockspindle(gbs_lockspindle)
-        #ans = unlockspindle(gbs_unlockspindle)
+        ans = runspindle(gbs_runspindle, 5000)
+        ans = stopspindle(gbs_stopspindle)
+        ans = lockspindle(gbs_lockspindle)
+        ans = unlockspindle(gbs_unlockspindle)
         #ans = getsensorvalues(gbs_readsensor)
-        #ans = takepanel(gbs_takepanel)
-        #ans = releasepanel(gbs_releasepanel)
-        #ans = switchvacuum(gbs_switchvacuum)
-        #ans = shakevacuum(gbs_shakevacuum)
+        ans = takepanel(gbs_takepanel)
+        ans = releasepanel(gbs_releasepanel)
+        ans = switchvacuum(gbs_switchvacuum)
+        ans = shakevacuum(gbs_shakevacuum)
     except rospy.ServiceException, e:
         print "Service call failed: %s"%e