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28 行
1.1 KiB
28 行
1.1 KiB
#!/usr/bin/env python
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import rospy
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from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
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from niryo_moveit.msg import NiryoMoveitJoints, NiryoTrajectory
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from niryo_moveit.srv import MoverService, MoverServiceRequest
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from niryo_one_msgs.msg import RobotMoveActionGoal
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def main():
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ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
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tcp_server = TcpServer(ros_node_name)
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rospy.init_node(ros_node_name, anonymous=True)
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# Start the Server Endpoint with a ROS communication objects dictionary for routing messages
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tcp_server.start({
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'SourceDestination_input': RosPublisher('SourceDestination', NiryoMoveitJoints, queue_size=10),
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'NiryoTrajectory': RosSubscriber('NiryoTrajectory', NiryoTrajectory, tcp_server),
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'niryo_moveit': RosService('niryo_moveit', MoverService),
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'niryo_one/commander/robot_action/goal': RosSubscriber('niryo_one/commander/robot_action/goal', RobotMoveActionGoal, tcp_server),
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'sim_real_pnp': RosPublisher('sim_real_pnp', MoverServiceRequest)
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})
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rospy.spin()
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if __name__ == "__main__":
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main()
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