From 9caaac5cb8168ff2c19441d8aa3ed4741baf5aad Mon Sep 17 00:00:00 2001 From: Prasanth Suresh Date: Thu, 28 May 2020 16:19:29 -0400 Subject: [PATCH 1/3] Send_urdf_fragment.py import xacro_jade -> import xacro --- .gitignore | 0 CHANGELOG.rst | 0 CONTRIBUTING.md | 0 LICENSE | 0 README.rst | 0 intera_examples/.gitignore | 0 intera_examples/CHANGELOG.rst | 0 intera_examples/CMakeLists.txt | 0 intera_examples/LICENSE | 0 intera_examples/README.rst | 0 intera_examples/launch/gripper_joystick.launch | 0 .../launch/joint_position_joystick.launch | 0 .../launch/joint_trajectory_client.launch | 0 .../launch/joint_trajectory_file_playback.launch | 0 intera_examples/package.xml | 0 intera_examples/setup.py | 0 intera_examples/share/images/sawyer_and_baxter.png | Bin .../share/images/sawyer_sdk_research.png | Bin intera_examples/src/intera_examples/__init__.py | 0 intera_examples/src/intera_examples/recorder.py | 0 .../src/intera_external_devices/__init__.py | 0 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a/intera_examples/src/intera_examples/recorder.py b/intera_examples/src/intera_examples/recorder.py old mode 100644 new mode 100755 diff --git a/intera_examples/src/intera_external_devices/__init__.py b/intera_examples/src/intera_external_devices/__init__.py old mode 100644 new mode 100755 diff --git a/intera_examples/src/intera_external_devices/getch.py b/intera_examples/src/intera_external_devices/getch.py old mode 100644 new mode 100755 diff --git a/intera_examples/src/intera_external_devices/joystick.py b/intera_examples/src/intera_external_devices/joystick.py old mode 100644 new mode 100755 diff --git a/intera_interface/.gitignore b/intera_interface/.gitignore old mode 100644 new mode 100755 diff --git a/intera_interface/CHANGELOG.rst b/intera_interface/CHANGELOG.rst old mode 100644 new mode 100755 diff --git a/intera_interface/CMakeLists.txt b/intera_interface/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/intera_interface/LICENSE b/intera_interface/LICENSE old mode 100644 new mode 100755 diff --git a/intera_interface/README.rst b/intera_interface/README.rst old mode 100644 new mode 100755 diff --git a/intera_interface/epydoc.config b/intera_interface/epydoc.config old mode 100644 new mode 100755 diff --git a/intera_interface/package.xml b/intera_interface/package.xml old mode 100644 new mode 100755 diff --git a/intera_interface/rosdoc.yaml b/intera_interface/rosdoc.yaml old mode 100644 new mode 100755 diff --git a/intera_interface/scripts/send_urdf_fragment.py b/intera_interface/scripts/send_urdf_fragment.py index 197fe71..b2cb6fa 100755 --- a/intera_interface/scripts/send_urdf_fragment.py +++ b/intera_interface/scripts/send_urdf_fragment.py @@ -19,7 +19,7 @@ import argparse import rospy -import xacro_jade +import xacro from intera_core_msgs.msg import ( URDFConfiguration, diff --git a/intera_interface/setup.py b/intera_interface/setup.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_control/__init__.py b/intera_interface/src/intera_control/__init__.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_control/pid.py b/intera_interface/src/intera_control/pid.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_dataflow/__init__.py b/intera_interface/src/intera_dataflow/__init__.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_dataflow/signals.py b/intera_interface/src/intera_dataflow/signals.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_dataflow/wait_for.py b/intera_interface/src/intera_dataflow/wait_for.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_dataflow/weakrefset.py b/intera_interface/src/intera_dataflow/weakrefset.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/__init__.py b/intera_interface/src/intera_interface/__init__.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/camera.py b/intera_interface/src/intera_interface/camera.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/clicksmart_plate.py b/intera_interface/src/intera_interface/clicksmart_plate.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/cuff.py b/intera_interface/src/intera_interface/cuff.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/digital_io.py b/intera_interface/src/intera_interface/digital_io.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/gripper.py b/intera_interface/src/intera_interface/gripper.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/gripper_factory.py b/intera_interface/src/intera_interface/gripper_factory.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/head.py b/intera_interface/src/intera_interface/head.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/head_display.py b/intera_interface/src/intera_interface/head_display.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/joint_limits.py b/intera_interface/src/intera_interface/joint_limits.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/lights.py b/intera_interface/src/intera_interface/lights.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/limb.py b/intera_interface/src/intera_interface/limb.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/navigator.py b/intera_interface/src/intera_interface/navigator.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/robot_enable.py b/intera_interface/src/intera_interface/robot_enable.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/robot_params.py b/intera_interface/src/intera_interface/robot_params.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_interface/settings.py b/intera_interface/src/intera_interface/settings.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_io/__init__.py b/intera_interface/src/intera_io/__init__.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_io/io_command.py b/intera_interface/src/intera_io/io_command.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_io/io_interface.py b/intera_interface/src/intera_io/io_interface.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_joint_trajectory_action/__init__.py b/intera_interface/src/intera_joint_trajectory_action/__init__.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_joint_trajectory_action/bezier.py b/intera_interface/src/intera_joint_trajectory_action/bezier.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_joint_trajectory_action/joint_trajectory_action.py b/intera_interface/src/intera_joint_trajectory_action/joint_trajectory_action.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_joint_trajectory_action/minjerk.py b/intera_interface/src/intera_joint_trajectory_action/minjerk.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_motion_interface/__init__.py b/intera_interface/src/intera_motion_interface/__init__.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_motion_interface/interaction_options.py b/intera_interface/src/intera_motion_interface/interaction_options.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_motion_interface/motion_controller_action_client.py b/intera_interface/src/intera_motion_interface/motion_controller_action_client.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_motion_interface/motion_trajectory.py b/intera_interface/src/intera_motion_interface/motion_trajectory.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_motion_interface/motion_waypoint.py b/intera_interface/src/intera_motion_interface/motion_waypoint.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_motion_interface/motion_waypoint_options.py b/intera_interface/src/intera_motion_interface/motion_waypoint_options.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_motion_interface/random_walk.py b/intera_interface/src/intera_motion_interface/random_walk.py old mode 100644 new mode 100755 diff --git a/intera_interface/src/intera_motion_interface/utility_functions.py b/intera_interface/src/intera_motion_interface/utility_functions.py old mode 100644 new mode 100755 diff --git a/intera_sdk/CHANGELOG.rst b/intera_sdk/CHANGELOG.rst old mode 100644 new mode 100755 diff --git a/intera_sdk/CMakeLists.txt b/intera_sdk/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/intera_sdk/package.xml b/intera_sdk/package.xml old mode 100644 new mode 100755 From 08dc898d0283f63cd0f678a609a586d65c31a5f4 Mon Sep 17 00:00:00 2001 From: Prasanth Suresh Date: Thu, 28 May 2020 16:28:59 -0400 Subject: [PATCH 2/3] xacro upload_fragment.py syntax updated --- intera_interface/scripts/send_urdf_fragment.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/intera_interface/scripts/send_urdf_fragment.py b/intera_interface/scripts/send_urdf_fragment.py index b2cb6fa..86f3855 100755 --- a/intera_interface/scripts/send_urdf_fragment.py +++ b/intera_interface/scripts/send_urdf_fragment.py @@ -26,8 +26,8 @@ ) def xacro_parse(filename): - doc = xacro_jade.parse(None, filename) - xacro_jade.process_doc(doc, in_order=True) + doc = xacro.parse(None, filename) + xacro.process_doc(doc, in_order=True) return doc.toprettyxml(indent=' ') def send_urdf(parent_link, root_joint, urdf_filename, duration): From f9ce4ceb948bca27678a7009f9fbc6c15281a58a Mon Sep 17 00:00:00 2001 From: Prasanth Suresh Date: Fri, 22 Jan 2021 16:17:20 -0500 Subject: [PATCH 3/3] Increased timeout for messages --- intera_interface/src/intera_interface/limb.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/intera_interface/src/intera_interface/limb.py b/intera_interface/src/intera_interface/limb.py index d6d0f47..ddf79ea 100755 --- a/intera_interface/src/intera_interface/limb.py +++ b/intera_interface/src/intera_interface/limb.py @@ -163,21 +163,21 @@ def __init__(self, limb="right", synchronous_pub=False): ns_pkn = "ExternalTools/" + limb + "/PositionKinematicsNode/" self._iksvc = rospy.ServiceProxy(ns_pkn + 'IKService', SolvePositionIK) self._fksvc = rospy.ServiceProxy(ns_pkn + 'FKService', SolvePositionFK) - rospy.wait_for_service(ns_pkn + 'IKService', 5.0) - rospy.wait_for_service(ns_pkn + 'FKService', 5.0) + rospy.wait_for_service(ns_pkn + 'IKService', 25.0) + rospy.wait_for_service(ns_pkn + 'FKService', 25.0) err_msg = ("%s limb init failed to get current joint_states " "from %s") % (self.name.capitalize(), joint_state_topic) intera_dataflow.wait_for(lambda: len(self._joint_angle.keys()) > 0, - timeout_msg=err_msg, timeout=5.0) + timeout_msg=err_msg, timeout=25.0) err_msg = ("%s limb init failed to get current endpoint_state " "from %s") % (self.name.capitalize(), ns + 'endpoint_state') intera_dataflow.wait_for(lambda: len(self._cartesian_pose.keys()) > 0, - timeout_msg=err_msg, timeout=5.0) + timeout_msg=err_msg, timeout=25.0) err_msg = ("%s limb init failed to get current tip_states " "from %s") % (self.name.capitalize(), ns + 'tip_states') intera_dataflow.wait_for(lambda: self._tip_states is not None, - timeout_msg=err_msg, timeout=5.0) + timeout_msg=err_msg, timeout=25.0) def _on_joint_states(self, msg): for idx, name in enumerate(msg.name):