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ur_controller.py
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ur_controller.py
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#!/usr/bin/env python
import math
import rospy
import yaml
import tf2_ros
import numpy as np
import time as T
from std_msgs.msg import String, Bool
from sensor_msgs.msg import JointState
from subprocess import call
import utils
class URController:
def __init__(self):
rospy.init_node('URController')
self.current_arm_position = [0.0, 0.0, 0.0]
self.tf_buffer = tf2_ros.Buffer()
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer)
self.ur5e_arm_pub = rospy.Publisher("/ur_hardware_interface/script_command", String, queue_size=10)
T.sleep(1)
def set_tcp(self, tcp_pose):
set_tcp_string = String()
set_tcp_string.data = 'set_tcp(p[' + ','.join(str(element) for element in tcp_pose) + '])'
self.ur5e_arm_pub.publish(set_tcp_string)
self.ur5e_arm_pub.publish(set_tcp_string)
T.sleep(1)
return True
def home_arm(self, time=None):
home_joint_angles = [90, -90, 90, -90, -90, -135]
self.move_joints_in_degrees(home_joint_angles, time)
return True
def zero_ft_sensor(self):
zero_ft_sensor_string = String()
zero_ft_sensor_string.data = 'zero_ftsensor()'
self.ur5e_arm_pub.publish(zero_ft_sensor_string)
self.ur5e_arm_pub.publish(zero_ft_sensor_string)
T.sleep(1)
return True
def end_force_mode(self):
end_force_mode = String()
end_force_mode.data = 'end_force_mode()'
self.ur5e_arm_pub.publish(end_force_mode)
self.ur5e_arm_pub.publish(end_force_mode)
T.sleep(1)
return True
def force_mode(self, task_frame, selection_vector, wrench, limits, time):
force_mode_string = String()
force_mode_string.data = 'def force_control():\n zero_ftsensor()\n force_mode(p[' + ','.join(str(frame) for frame in task_frame) + '],' +\
'[' + ','.join(str(selection) for selection in selection_vector) + '],' + \
'[' + ','.join(str(force) for force in wrench) + '], 2, ' + \
'[' + ','.join(str(limit) for limit in limits) + '])\n sleep('+str(time)+')\n end_force_mode()\nend'
self.ur5e_arm_pub.publish(force_mode_string)
self.ur5e_arm_pub.publish(force_mode_string)
T.sleep(time)
return True
def move_joints_in_degrees(self, desired_arm_angles, time=None):
move_joints_string = String()
if time is not None:
move_joints_string.data = 'movej([' + ','.join(str(angle * np.pi/180.0) for angle in desired_arm_angles) + '],t='+str(time)+')'
else:
move_joints_string.data = 'movej([' + ','.join(str(angle * np.pi/180.0) for angle in desired_arm_angles) + '])'
self.ur5e_arm_pub.publish(move_joints_string)
self.ur5e_arm_pub.publish(move_joints_string)
if time is not None:
T.sleep(time)
else:
T.sleep(1)
return True
def move_joints_in_radians(self, desired_arm_angles, time=None):
move_joints_string = String()
if time is not None:
move_joints_string.data = 'movej([' + ','.join(str(angle) for angle in desired_arm_angles) + '],t='+str(time)+')'
else:
move_joints_string.data = 'movej([' + ','.join(str(angle) for angle in desired_arm_angles) + '])'
self.ur5e_arm_pub.publish(move_joints_string)
self.ur5e_arm_pub.publish(move_joints_string)
if time is not None:
T.sleep(time)
else:
T.sleep(1)
return True
def move_ee(self, ee_pose, time=None):
move_ee_string = String()
if time is not None:
move_ee_string.data = 'movel(p[' + ','.join(str(element) for element in ee_pose) + '],t='+str(time)+')'
else:
move_ee_string.data = 'movel(p[' + ','.join(str(element) for element in ee_pose) + '])'
self.ur5e_arm_pub.publish(move_ee_string)
self.ur5e_arm_pub.publish(move_ee_string)
if time is not None:
T.sleep(time)
else:
T.sleep(1)
return True
def rotate_ee(self, axis, angle, time=None):
ee_pos = self.get_ee_pose()
axis_angle = [ee_pos[3], ee_pos[4], ee_pos[5]]
final_axis_angle = utils.rotate_around_axis(axis_angle, axis, angle)
new_ee_pos = [ee_pos[0], ee_pos[1], ee_pos[2], final_axis_angle[0], final_axis_angle[1], final_axis_angle[2]]
move_ee_string = String()
if time is not None:
move_ee_string.data = 'movel(p[' + ','.join(str(element) for element in new_ee_pos) + '],t='+str(time)+')'
else:
move_ee_string.data = 'movel(p[' + ','.join(str(element) for element in new_ee_pos) + '])'
self.ur5e_arm_pub.publish(move_ee_string)
self.ur5e_arm_pub.publish(move_ee_string)
T.sleep(1)
return True
#Not working
def rotate_ee_movec(self, axis, angle):
ee_pos = self.get_ee_pose()
axis_angle = [ee_pos[3], ee_pos[4], ee_pos[5]]
final_axis_angle = utils.rotate_around_axis(axis_angle, axis, angle)
mid_ee_pos = [ee_pos[0], ee_pos[1], ee_pos[2], 0, 0, 0]
new_ee_pos = [ee_pos[0], ee_pos[1], ee_pos[2], final_axis_angle[0], final_axis_angle[1], final_axis_angle[2]]
movec_string = String()
movec_string.data = 'movec(p[' + ','.join(str(element) for element in mid_ee_pos) + '],'+ \
'p[' + ','.join(str(element) for element in new_ee_pos) + '],a=1.2,v=0.25,r=0.05,mode=0)'
self.ur5e_arm_pub.publish(movec_string)
self.ur5e_arm_pub.publish(movec_string)
T.sleep(1)
return True
def rotate_ee_degrees(self, axis, angle, time=None):
return self.rotate_ee(axis, angle / 180 * np.pi)
def get_ee_pose(self):
rospy.sleep(1)
trans = self.tf_buffer.lookup_transform('base', 'tool0_controller', rospy.Time(0))
orientation_q = trans.transform.rotation
orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w]
axis_angle = -utils.quat_to_axis_angle([trans.transform.rotation.x, trans.transform.rotation.y,
trans.transform.rotation.z, trans.transform.rotation.w])
return [trans.transform.translation.x, trans.transform.translation.y, trans.transform.translation.z,
axis_angle[0], axis_angle[1], axis_angle[2]]
def get_joints(self):
try:
joint_state_msg = rospy.wait_for_message('/joint_states', JointState, 1)
return [joint_state_msg.position[0] * 180 / math.pi, joint_state_msg.position[1] * 180 / math.pi, joint_state_msg.position[2] * 180 / math.pi,
joint_state_msg.position[3] * 180 / math.pi, joint_state_msg.position[4] * 180 / math.pi, joint_state_msg.position[5] * 180 / math.pi]
except:
return None