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Mathias Haage
GBS
Commits
3e95cb36
Commit
3e95cb36
authored
Jul 22, 2015
by
Mathias Haage
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
Support full GBS
parent
b929e625
Changes
7
Show whitespace changes
Inline
Side-by-side
Showing
7 changed files
with
377 additions
and
39 deletions
+377
-39
catkin_ws/src/gbs/CMakeLists.txt
catkin_ws/src/gbs/CMakeLists.txt
+0
-2
catkin_ws/src/gbs/msg/GBSAck.msg
catkin_ws/src/gbs/msg/GBSAck.msg
+0
-2
catkin_ws/src/gbs/msg/GBSAckArray.msg
catkin_ws/src/gbs/msg/GBSAckArray.msg
+2
-3
catkin_ws/src/gbs/msg/GBSCmd.msg
catkin_ws/src/gbs/msg/GBSCmd.msg
+0
-2
catkin_ws/src/gbs/msg/GBSCmdArray.msg
catkin_ws/src/gbs/msg/GBSCmdArray.msg
+1
-1
catkin_ws/src/gbs/scripts/post_gbs_cmdarray.py
catkin_ws/src/gbs/scripts/post_gbs_cmdarray.py
+161
-14
catkin_ws/src/gbs/scripts/test_client.py
catkin_ws/src/gbs/scripts/test_client.py
+213
-15
No files found.
catkin_ws/src/gbs/CMakeLists.txt
View file @
3e95cb36
...
...
@@ -47,9 +47,7 @@ find_package(catkin REQUIRED COMPONENTS
## Generate messages in the 'msg' folder
add_message_files
(
FILES
GBSCmd.msg
GBSCmdArray.msg
GBSAck.msg
GBSAckArray.msg
)
...
...
catkin_ws/src/gbs/msg/GBSAck.msg
deleted
100644 → 0
View file @
b929e625
float32[30] array
catkin_ws/src/gbs/msg/GBSAckArray.msg
View file @
3e95cb36
int32[200] n
GBSAck[200] ack1
GBSAck[200] ack2
int32 n
float32[1000] array
catkin_ws/src/gbs/msg/GBSCmd.msg
deleted
100644 → 0
View file @
b929e625
float32[30] array
catkin_ws/src/gbs/msg/GBSCmdArray.msg
View file @
3e95cb36
int32 n
GBSCmd[200] cmd
float32[1000] array
catkin_ws/src/gbs/scripts/post_gbs_cmdarray.py
View file @
3e95cb36
...
...
@@ -7,24 +7,171 @@ def near(t, n):
return
n
-
0.01
<
t
and
t
<
n
+
0.01
def
prettyprint
(
array
):
for
i
in
range
(
array
.
n
):
c0
=
array
.
cmd
[
i
]
.
array
[
0
]
c1
=
array
.
cmd
[
i
]
.
array
[
1
]
c2
=
array
.
cmd
[
i
]
.
array
[
2
]
i
=
0
while
i
<
array
.
n
:
c0
=
array
.
array
[
0
+
i
]
c1
=
array
.
array
[
1
+
i
]
c2
=
array
.
array
[
2
+
i
]
if
near
(
c0
,
10
)
and
near
(
c1
,
1
)
and
near
(
c2
,
1
):
x
=
array
.
cmd
[
i
]
.
array
[
3
]
y
=
array
.
cmd
[
i
]
.
array
[
4
]
z
=
array
.
cmd
[
i
]
.
array
[
5
]
a
=
array
.
cmd
[
i
]
.
array
[
6
]
b
=
array
.
cmd
[
i
]
.
array
[
7
]
c
=
array
.
cmd
[
i
]
.
array
[
8
]
s
=
array
.
cmd
[
i
]
.
array
[
9
]
ac
=
array
.
cmd
[
i
]
.
array
[
10
]
print
"linmove x=
%
f y=
%
f z=
%
f a=
%
f b=
%
f c=
%
f s=
%
f ac=
%
f"
%
(
x
,
y
,
z
,
a
,
b
,
c
,
s
,
ac
)
x
=
array
.
array
[
3
+
i
]
y
=
array
.
array
[
4
+
i
]
z
=
array
.
array
[
5
+
i
]
c
=
array
.
array
[
6
+
i
]
b
=
array
.
array
[
7
+
i
]
a
=
array
.
array
[
8
+
i
]
s
=
array
.
array
[
9
+
i
]
ac
=
array
.
array
[
10
+
i
]
i
=
i
+
11
print
"linmove x=
%
f y=
%
f z=
%
f c=
%
f b=
%
f a=
%
f s=
%
f ac=
%
f"
%
(
x
,
y
,
z
,
c
,
b
,
a
,
s
,
ac
)
elif
near
(
c0
,
10
)
and
near
(
c1
,
1
)
and
near
(
c2
,
2
):
j1
=
array
.
array
[
3
+
i
]
j2
=
array
.
array
[
4
+
i
]
j3
=
array
.
array
[
5
+
i
]
j4
=
array
.
array
[
6
+
i
]
j5
=
array
.
array
[
7
+
i
]
j6
=
array
.
array
[
8
+
i
]
s
=
array
.
array
[
9
+
i
]
ac
=
array
.
array
[
10
+
i
]
i
=
i
+
11
print
"ptpmove j1=
%
f j2=
%
f j3=
%
f j4=
%
f j5=
%
f j6=
%
f s=
%
f ac=
%
f"
%
(
j1
,
j2
,
j3
,
j4
,
j5
,
j6
,
s
,
ac
)
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
4
):
i
=
i
+
3
print
"readlibrary"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
5
):
i
=
i
+
3
print
"readcurrentrobotpos"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
6
):
i
=
i
+
3
print
"locktool"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
7
):
i
=
i
+
3
print
"unlocktool"
elif
near
(
c0
,
18
)
and
near
(
c1
,
1
)
and
near
(
c2
,
8
):
id
=
array
.
array
[
3
+
i
]
bstop
=
array
.
array
[
4
+
i
]
s
=
array
.
array
[
5
+
i
]
ac
=
array
.
array
[
6
+
i
]
x1
=
array
.
array
[
7
+
i
]
y1
=
array
.
array
[
8
+
i
]
z1
=
array
.
array
[
9
+
i
]
c1
=
array
.
array
[
10
+
i
]
b1
=
array
.
array
[
11
+
i
]
a1
=
array
.
array
[
12
+
i
]
x2
=
array
.
array
[
13
+
i
]
y2
=
array
.
array
[
14
+
i
]
z2
=
array
.
array
[
15
+
i
]
c2
=
array
.
array
[
16
+
i
]
b2
=
array
.
array
[
17
+
i
]
a2
=
array
.
array
[
18
+
i
]
i
=
i
+
19
print
"naillinmove id=
%
f bstop=
%
f s=
%
f ac=
%
f x1=
%
f y1=
%
f z1=
%
f c1=
%
f b1=
%
f a1=
%
f x2=
%
f y2=
%
f z2=
%
f c2=
%
f b2=
%
f a2=
%
f"
%
(
id
,
bstop
,
s
,
ac
,
x1
,
y1
,
z1
,
c1
,
b1
,
a1
,
x2
,
y2
,
z2
,
c2
,
b2
,
a2
)
elif
near
(
c0
,
11
)
and
near
(
c1
,
1
)
and
near
(
c2
,
8
):
id
=
array
.
array
[
3
+
i
]
x
=
array
.
array
[
4
+
i
]
y
=
array
.
array
[
5
+
i
]
z
=
array
.
array
[
6
+
i
]
c
=
array
.
array
[
7
+
i
]
b
=
array
.
array
[
8
+
i
]
a
=
array
.
array
[
9
+
i
]
s
=
array
.
array
[
10
+
i
]
ac
=
array
.
array
[
11
+
i
]
i
=
i
+
12
print
"measuremove id=
%
f x=
%
f y=
%
f z=
%
f c=
%
f b=
%
f a=
%
f s=
%
f ac=
%
f"
%
(
id
,
x
,
y
,
z
,
c
,
b
,
a
,
s
,
ac
)
elif
near
(
c0
,
16
)
and
near
(
c1
,
1
)
and
near
(
c2
,
10
):
xi
=
array
.
array
[
3
+
i
]
yi
=
array
.
array
[
4
+
i
]
zi
=
array
.
array
[
5
+
i
]
ci
=
array
.
array
[
6
+
i
]
bi
=
array
.
array
[
7
+
i
]
ai
=
array
.
array
[
8
+
i
]
xf
=
array
.
array
[
9
+
i
]
yf
=
array
.
array
[
10
+
i
]
zf
=
array
.
array
[
11
+
i
]
cf
=
array
.
array
[
12
+
i
]
bf
=
array
.
array
[
13
+
i
]
af
=
array
.
array
[
14
+
i
]
s
=
array
.
array
[
15
+
i
]
ac
=
array
.
array
[
16
+
i
]
i
=
i
+
17
print
"circmove xi=
%
f yi=
%
f zi=
%
f ci=
%
f bi=
%
f ai=
%
f xf=
%
f yf=
%
f zf=
%
f cf=
%
f bf=
%
f af=
%
f s=
%
f ac=
%
f"
%
(
xi
,
yi
,
zi
,
ci
,
bi
,
ai
,
xf
,
yf
,
zf
,
cf
,
bf
,
af
,
s
,
ac
)
elif
near
(
c0
,
35
)
and
near
(
c1
,
1
)
and
near
(
c2
,
11
):
i
=
i
+
3
print
"combmove"
while
True
:
cc0
=
array
.
array
[
i
]
if
near
(
cc0
,
1
):
x
=
array
.
array
[
1
+
i
]
y
=
array
.
array
[
2
+
i
]
z
=
array
.
array
[
3
+
i
]
c
=
array
.
array
[
4
+
i
]
b
=
array
.
array
[
5
+
i
]
a
=
array
.
array
[
6
+
i
]
s
=
array
.
array
[
7
+
i
]
ac
=
array
.
array
[
8
+
i
]
i
=
i
+
9
print
" linmove x=
%
f y=
%
f z=
%
f c=
%
f b=
%
f a=
%
f s=
%
f ac=
%
f"
%
(
x
,
y
,
z
,
c
,
b
,
a
,
s
,
ac
)
elif
near
(
cc0
,
10
):
xi
=
array
.
array
[
1
+
i
]
yi
=
array
.
array
[
2
+
i
]
zi
=
array
.
array
[
3
+
i
]
ci
=
array
.
array
[
4
+
i
]
bi
=
array
.
array
[
5
+
i
]
ai
=
array
.
array
[
6
+
i
]
xf
=
array
.
array
[
7
+
i
]
yf
=
array
.
array
[
8
+
i
]
zf
=
array
.
array
[
9
+
i
]
cf
=
array
.
array
[
10
+
i
]
bf
=
array
.
array
[
11
+
i
]
af
=
array
.
array
[
12
+
i
]
s
=
array
.
array
[
13
+
i
]
ac
=
array
.
array
[
14
+
i
]
i
=
i
+
15
print
" circmove xi=
%
f yi=
%
f zi=
%
f ci=
%
f bi=
%
f ai=
%
f xf=
%
f yf=
%
f zf=
%
f cf=
%
f bf=
%
f af=
%
f s=
%
f ac=
%
f"
%
(
xi
,
yi
,
zi
,
ci
,
bi
,
ai
,
xf
,
yf
,
zf
,
cf
,
bf
,
af
,
s
,
ac
)
elif
near
(
cc0
,
2
):
j1
=
array
.
array
[
1
+
i
]
j2
=
array
.
array
[
2
+
i
]
j3
=
array
.
array
[
3
+
i
]
j4
=
array
.
array
[
4
+
i
]
j5
=
array
.
array
[
5
+
i
]
j6
=
array
.
array
[
6
+
i
]
s
=
array
.
array
[
7
+
i
]
ac
=
array
.
array
[
8
+
i
]
i
=
i
+
9
print
" ptpmove j1=
%
f j2=
%
f j3=
%
f j4=
%
f j5=
%
f j6=
%
f s=
%
f ac=
%
f"
%
(
j1
,
j2
,
j3
,
j4
,
j5
,
j6
,
s
,
ac
)
else
:
break
elif
near
(
c0
,
3
)
and
near
(
c1
,
1
)
and
near
(
c2
,
12
):
rpm
=
array
.
array
[
3
+
i
]
i
=
i
+
4
print
"runspindle rpm=
%
f"
%
(
rpm
)
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
13
):
i
=
i
+
3
print
"stopspindle"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
14
):
i
=
i
+
3
print
"lockspindle"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
15
):
i
=
i
+
3
print
"unlockspindle"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
16
):
i
=
i
+
3
print
"getsensorvalues"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
17
):
i
=
i
+
3
print
"takepanel"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
18
):
i
=
i
+
3
print
"releasepanel"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
19
):
i
=
i
+
3
print
"switchvacuum"
elif
near
(
c0
,
2
)
and
near
(
c1
,
1
)
and
near
(
c2
,
20
):
i
=
i
+
3
print
"shakevacuum"
else
:
print
"Unknown GBS command
%
f
%
f
%
f"
%
(
c0
,
c1
,
c2
)
return
def
handle_post_gbs_cmdarray
(
req
):
print
"Received an GBS array"
...
...
catkin_ws/src/gbs/scripts/test_client.py
View file @
3e95cb36
...
...
@@ -5,27 +5,225 @@ import rospy
from
gbs.msg
import
*
from
gbs.srv
import
*
def
linmove
(
cmd
,
x
,
y
,
z
,
a
,
b
,
c
,
s
,
ac
):
cmd
.
array
[
0
]
=
10
;
cmd
.
array
[
1
]
=
1
;
cmd
.
array
[
2
]
=
1
;
cmd
.
array
[
3
]
=
x
;
cmd
.
array
[
4
]
=
y
;
cmd
.
array
[
5
]
=
z
;
cmd
.
array
[
6
]
=
a
;
cmd
.
array
[
7
]
=
b
;
cmd
.
array
[
8
]
=
c
;
cmd
.
array
[
9
]
=
s
;
cmd
.
array
[
10
]
=
ac
;
def
linmove
(
array
,
x
,
y
,
z
,
c
,
b
,
a
,
s
,
ac
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
10
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
1
array
.
array
[
3
+
i
]
=
x
array
.
array
[
4
+
i
]
=
y
array
.
array
[
5
+
i
]
=
z
array
.
array
[
6
+
i
]
=
c
array
.
array
[
7
+
i
]
=
b
array
.
array
[
8
+
i
]
=
a
array
.
array
[
9
+
i
]
=
s
array
.
array
[
10
+
i
]
=
ac
array
.
n
=
i
+
11
def
ptpmove
(
array
,
j1
,
j2
,
j3
,
j4
,
j5
,
j6
,
s
,
ac
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
10
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
2
array
.
array
[
3
+
i
]
=
j1
array
.
array
[
4
+
i
]
=
j2
array
.
array
[
5
+
i
]
=
j3
array
.
array
[
6
+
i
]
=
j4
array
.
array
[
7
+
i
]
=
j5
array
.
array
[
8
+
i
]
=
j6
array
.
array
[
9
+
i
]
=
s
array
.
array
[
10
+
i
]
=
ac
array
.
n
=
i
+
11
def
readlibrary
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
4
array
.
n
=
i
+
3
def
readcurrentrobotpos
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
5
array
.
n
=
i
+
3
def
locktool
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
6
array
.
n
=
i
+
3
def
unlocktool
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
7
array
.
n
=
i
+
3
def
naillinmove
(
array
,
id
,
bstop
,
s
,
ac
,
x1
,
y1
,
z1
,
c1
,
b1
,
a1
,
x2
,
y2
,
z2
,
c2
,
b2
,
a2
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
18
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
8
array
.
array
[
3
+
i
]
=
id
array
.
array
[
4
+
i
]
=
bstop
array
.
array
[
5
+
i
]
=
s
array
.
array
[
6
+
i
]
=
ac
array
.
array
[
7
+
i
]
=
x1
array
.
array
[
8
+
i
]
=
y1
array
.
array
[
9
+
i
]
=
z1
array
.
array
[
10
+
i
]
=
c1
array
.
array
[
11
+
i
]
=
b1
array
.
array
[
12
+
i
]
=
a1
array
.
array
[
13
+
i
]
=
x2
array
.
array
[
14
+
i
]
=
y2
array
.
array
[
15
+
i
]
=
z2
array
.
array
[
16
+
i
]
=
c2
array
.
array
[
17
+
i
]
=
b2
array
.
array
[
18
+
i
]
=
a2
array
.
n
=
i
+
19
def
measuremove
(
array
,
id
,
x
,
y
,
z
,
c
,
b
,
a
,
s
,
ac
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
11
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
8
array
.
array
[
3
+
i
]
=
id
array
.
array
[
4
+
i
]
=
x
array
.
array
[
5
+
i
]
=
y
array
.
array
[
6
+
i
]
=
z
array
.
array
[
7
+
i
]
=
c
array
.
array
[
8
+
i
]
=
b
array
.
array
[
9
+
i
]
=
a
array
.
array
[
10
+
i
]
=
s
array
.
array
[
11
+
i
]
=
ac
array
.
n
=
i
+
12
def
circmove
(
array
,
xi
,
yi
,
zi
,
ci
,
bi
,
ai
,
xf
,
yf
,
zf
,
cf
,
bf
,
af
,
s
,
ac
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
16
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
10
array
.
array
[
3
+
i
]
=
xi
array
.
array
[
4
+
i
]
=
yi
array
.
array
[
5
+
i
]
=
zi
array
.
array
[
6
+
i
]
=
ci
array
.
array
[
7
+
i
]
=
bi
array
.
array
[
8
+
i
]
=
ai
array
.
array
[
9
+
i
]
=
xf
array
.
array
[
10
+
i
]
=
yf
array
.
array
[
11
+
i
]
=
zf
array
.
array
[
12
+
i
]
=
cf
array
.
array
[
13
+
i
]
=
bf
array
.
array
[
14
+
i
]
=
af
array
.
array
[
15
+
i
]
=
s
array
.
array
[
16
+
i
]
=
ac
array
.
n
=
i
+
17
def
combmove
(
array
,
cmdarray
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
35
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
11
for
j
in
range
(
len
(
cmdarray
)):
array
.
array
[
3
+
i
+
j
]
=
cmdarray
[
j
]
array
.
n
=
i
+
3
+
len
(
cmdarray
)
def
runspindle
(
array
,
rpm
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
3
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
12
array
.
array
[
3
+
i
]
=
rpm
array
.
n
=
i
+
4
def
stopspindle
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
13
array
.
n
=
i
+
3
def
lockspindle
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
14
array
.
n
=
i
+
3
def
unlockspindle
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
15
array
.
n
=
i
+
3
def
getsensorvalues
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
16
array
.
n
=
i
+
3
def
takepanel
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
17
array
.
n
=
i
+
3
def
releasepanel
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
18
array
.
n
=
i
+
3
def
switchvacuum
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
19
array
.
n
=
i
+
3
def
shakevacuum
(
array
):
i
=
array
.
n
array
.
array
[
0
+
i
]
=
2
array
.
array
[
1
+
i
]
=
1
array
.
array
[
2
+
i
]
=
20
array
.
n
=
i
+
3
def
post_gbs_cmdarray_client
():
rospy
.
wait_for_service
(
'post_gbs_cmdarray'
)
try
:
post_gbs_cmdarray
=
rospy
.
ServiceProxy
(
'post_gbs_cmdarray'
,
PostGBSCmdArray
)
array
=
GBSCmdArray
()
array
.
n
=
2
linmove
(
array
.
cmd
[
0
],
10
,
11
,
12
,
35
,
0
,
0
,
10
,
5
)
linmove
(
array
.
cmd
[
1
],
10
,
11
,
12
,
35
,
0
,
0
,
10
,
6
)
array
.
n
=
0
linmove
(
array
,
10
,
11
,
12
,
35
,
0
,
0
,
10
,
5
)
linmove
(
array
,
10
,
11
,
12
,
35
,
0
,
0
,
10
,
6
)
ptpmove
(
array
,
1
,
2
,
3
,
4
,
5
,
6
,
10
,
6
)
readlibrary
(
array
)
readcurrentrobotpos
(
array
)
locktool
(
array
)
unlocktool
(
array
)
naillinmove
(
array
,
1
,
1
,
3
,
3
,
1
,
2
,
3
,
4
,
5
,
6
,
7
,
8
,
9
,
10
,
11
,
12
)
measuremove
(
array
,
2
,
1
,
2
,
3
,
4
,
5
,
6
,
10
,
5
)
circmove
(
array
,
0
,
0
,
0
,
0
,
0
,
0
,
100
,
0
,
0
,
0
,
0
,
0
,
10
,
5
)
combmove
(
array
,
(
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
))
runspindle
(
array
,
5000
)
stopspindle
(
array
)
lockspindle
(
array
)
unlockspindle
(
array
)
getsensorvalues
(
array
)
takepanel
(
array
)
releasepanel
(
array
)
switchvacuum
(
array
)
shakevacuum
(
array
)
array
.
array
[
array
.
n
]
=
-
1
resp
=
post_gbs_cmdarray
(
array
)
except
rospy
.
ServiceException
,
e
:
print
"Service call failed:
%
s"
%
e
...
...
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