From ee78f94c30444ae9b6e64889b1a52678b30823ba Mon Sep 17 00:00:00 2001
From: pateman16 <patrickkarlsson16@gmail.com>
Date: Thu, 17 May 2018 04:57:04 +0200
Subject: [PATCH] minor
---
src/launch/autonomous_offboard_gripper.launch | 3 ++
.../autonomous_offboard_test_claws.launch | 3 ++
src/launch/rosserial.launch | 4 +++
src/scripts/action_controller_gripper.py | 28 ++++++++++++++++++
src/scripts/action_controller_test_claws.py | 23 ++++++++++++++
src/scripts/gripper_control.py | 27 +++++++++++++++++
src/scripts/gripper_control.pyc | Bin 0 -> 1758 bytes
7 files changed, 88 insertions(+)
create mode 100755 src/launch/autonomous_offboard_gripper.launch
create mode 100644 src/launch/autonomous_offboard_test_claws.launch
create mode 100644 src/launch/rosserial.launch
create mode 100755 src/scripts/action_controller_gripper.py
create mode 100755 src/scripts/action_controller_test_claws.py
create mode 100755 src/scripts/gripper_control.py
create mode 100644 src/scripts/gripper_control.pyc
diff --git a/src/launch/autonomous_offboard_gripper.launch b/src/launch/autonomous_offboard_gripper.launch
new file mode 100755
index 0000000..8888d25
--- /dev/null
+++ b/src/launch/autonomous_offboard_gripper.launch
@@ -0,0 +1,3 @@
+<launch>
+ <node name="action_controller_gripper" pkg="autonomous_offboard" type="action_controller_gripper.py" output="screen" />
+</launch>
diff --git a/src/launch/autonomous_offboard_test_claws.launch b/src/launch/autonomous_offboard_test_claws.launch
new file mode 100644
index 0000000..00b6fe5
--- /dev/null
+++ b/src/launch/autonomous_offboard_test_claws.launch
@@ -0,0 +1,3 @@
+<launch>
+ <node name="action_controller_claws" pkg="autonomous_offboard" type="action_controller_test_claws.py" output="screen" />
+</launch>
diff --git a/src/launch/rosserial.launch b/src/launch/rosserial.launch
new file mode 100644
index 0000000..a2503c9
--- /dev/null
+++ b/src/launch/rosserial.launch
@@ -0,0 +1,4 @@
+<launch>
+ <node name="arduino" pkg="rosserial_python" type="serial_node.py" output="screen" args="_port:=/dev/ttyUSB1" />
+ <node name="UAV_Sense" pkg="rosserial_python" type="serial_node.py" output="screen" args="_port:=/dev/ttyUSB0" />
+</launch>
diff --git a/src/scripts/action_controller_gripper.py b/src/scripts/action_controller_gripper.py
new file mode 100755
index 0000000..480e25b
--- /dev/null
+++ b/src/scripts/action_controller_gripper.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+
+import roslib
+#roslib.load_manifest('autonomous_offboard')
+import rospy
+import time
+import gripper_control
+
+from std_msgs.msg import UInt16
+
+if __name__ == '__main__':
+ rospy.init_node('action_controller_gripper')
+ gc = gripper_control.gripper_control()
+ print("Started")
+ msg = UInt16()
+ print("First")
+ msg.data = 180
+ gc.grippers_short(msg)
+ gc.grippers_long(msg)
+ print("Second")
+ time.sleep(10)
+ msg.data = 0
+ gc.grippers_short(msg)
+ gc.grippers_long(msg)
+
+
+
+
diff --git a/src/scripts/action_controller_test_claws.py b/src/scripts/action_controller_test_claws.py
new file mode 100755
index 0000000..6b0f638
--- /dev/null
+++ b/src/scripts/action_controller_test_claws.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+import roslib
+#roslib.load_manifest('autonomous_offboard')
+import rospy
+import actionlib
+import mavros_state
+import time
+
+import gripper_control
+
+from autonomous_offboard.msg import center_on_objectAction, center_on_objectGoal, descend_on_objectAction, descend_on_objectGoal, detect_objectAction, detect_objectGoal,goto_position_velAction, goto_position_velGoal, goto_positionAction, goto_positionGoal, short_grippersAction, short_grippersGoal, long_grippersAction, long_grippersGoal, coverageAction, coverageGoal, gotoposition_sensorAction , gotoposition_sensorGoal
+
+from std_msgs.msg import Float32, UInt16
+from geometry_msgs.msg import PoseStamped
+
+if __name__ == '__main__':
+ rospy.init_node('action_controller_claws')
+ gc = gripper_control.gripper_control()
+ msg = UInt16()
+
+ rospy.loginfo("closing grippers")
+ msg.data = 180
+ gc.close_short_gripper(msg)
diff --git a/src/scripts/gripper_control.py b/src/scripts/gripper_control.py
new file mode 100755
index 0000000..05086dd
--- /dev/null
+++ b/src/scripts/gripper_control.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+
+import roslib
+import rospy
+import time
+from std_msgs.msg import UInt16
+class gripper_control():
+ def __init__(self):
+
+ #publishers
+ self.open_shortG = rospy.Publisher('/open_shortG', UInt16, queue_size=1)
+ self.close_shortG = rospy.Publisher('/close_shortG', UInt16, queue_size=1)
+ self.Goff = rospy.Publisher('/Goff', UInt16, queue_size=1)
+
+ def open_short_gripper(self, cmd):
+ print("Opening short grippers")
+ time.sleep(3)
+ self.open_shortG.publish(cmd)
+
+ def close_short_gripper(self, cmd):
+ print("Closing short grippers")
+ time.sleep(3)
+ self.close_shortG.publish(cmd)
+
+ def Goff_gripper(self, cmd):
+ print("Turning servo motors off")
+ self.Goff.publish(cmd)
diff --git a/src/scripts/gripper_control.pyc b/src/scripts/gripper_control.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..f1a6cfc6a316d81b9e9c79b29c2f6425e88e4448
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--
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