joint_trajectory_action_server.py

#!/usr/bin/env python

# Copyright (c) 2013-2015, Rethink Robotics
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"""
Baxter RSDK Joint Trajectory Controller
    Unlike other robots running ROS, this is not a Motor Controller plugin,
    but a regular node using the SDK interface.
"""
import argparse

import rospy

from dynamic_reconfigure.server import Server

from baxter_interface.cfg import (
    PositionJointTrajectoryActionServerConfig,
    VelocityJointTrajectoryActionServerConfig,
    PositionFFJointTrajectoryActionServerConfig,
)
from joint_trajectory_action.joint_trajectory_action import (
    JointTrajectoryActionServer,
)

from trajectory_msgs.msg import (
    JointTrajectoryPoint,
)


def start_server(limb, rate, mode):
    print("Initializing node... ")
    rospy.init_node("rsdk_%s_joint_trajectory_action_server%s" %
                    (mode, "" if limb == 'both' else "_" + limb,))
    print("Initializing joint trajectory action server...")

    if mode == 'velocity':
        dyn_cfg_srv = Server(VelocityJointTrajectoryActionServerConfig,
                             lambda config, level: config)
    elif mode == 'position':
        dyn_cfg_srv = Server(PositionJointTrajectoryActionServerConfig,
                             lambda config, level: config)
    else:
        dyn_cfg_srv = Server(PositionFFJointTrajectoryActionServerConfig,
                             lambda config, level: config)
    jtas = []
    if limb == 'both':
        jtas.append(JointTrajectoryActionServer('right', dyn_cfg_srv,
                                                rate, mode))
        jtas.append(JointTrajectoryActionServer('left', dyn_cfg_srv,
                                                rate, mode))
    else:
        jtas.append(JointTrajectoryActionServer(limb, dyn_cfg_srv, rate, mode))

    def cleanup():
        for j in jtas:
            j.clean_shutdown()

    rospy.on_shutdown(cleanup)
    print("Running. Ctrl-c to quit")
    rospy.spin()


def main():
    arg_fmt = argparse.ArgumentDefaultsHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt)
    parser.add_argument(
        "-l", "--limb", dest="limb", default="both",
        choices=['both', 'left', 'right'],
        help="joint trajectory action server limb"
    )
    parser.add_argument(
        "-r", "--rate", dest="rate", default=100.0,
        type=float, help="trajectory control rate (Hz)"
    )
    parser.add_argument(
        "-m", "--mode", default='position_w_id',
        choices=['position_w_id', 'position', 'velocity'],
        help="control mode for trajectory execution"
    )
    args = parser.parse_args(rospy.myargv()[1:])
    start_server(args.limb, args.rate, args.mode)


if __name__ == "__main__":
    main()