Commit 884ce343 by Mathias Haage

### Support more gbs cmnds

parent d3d67b02
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 ... @@ -231,19 +231,19 @@ def test(): ... @@ -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)+']' 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 = locktool(gbs_locktool) ans = unlocktool(gbs_unlocktool) ans = unlocktool(gbs_unlocktool) #ans = measuremove(gbs_measuremove, 111, 10, 11, 12, 35, 0, 0, 10, 6) ans = measuremove(gbs_measuremove, 1, 0, 0, 0, 0, 5, 0, 1, 1) #ans = naillinmove(gbs_naillinmove, 1, 1, 3, 3, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12) 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 = 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 = 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 = runspindle(gbs_runspindle, 5000) #ans = stopspindle(gbs_stopspindle) ans = stopspindle(gbs_stopspindle) #ans = lockspindle(gbs_lockspindle) ans = lockspindle(gbs_lockspindle) #ans = unlockspindle(gbs_unlockspindle) ans = unlockspindle(gbs_unlockspindle) #ans = getsensorvalues(gbs_readsensor) #ans = getsensorvalues(gbs_readsensor) #ans = takepanel(gbs_takepanel) ans = takepanel(gbs_takepanel) #ans = releasepanel(gbs_releasepanel) ans = releasepanel(gbs_releasepanel) #ans = switchvacuum(gbs_switchvacuum) ans = switchvacuum(gbs_switchvacuum) #ans = shakevacuum(gbs_shakevacuum) ans = shakevacuum(gbs_shakevacuum) except rospy.ServiceException, e: except rospy.ServiceException, e: print "Service call failed: %s"%e print "Service call failed: %s"%e ... ...
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