Add gripper client

nodes/simulation.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+
+import argparse
+
+import actionlib
+import numpy as np
+import rospy
+
+import franka_gripper.msg
+from geometry_msgs.msg import Pose
+from sensor_msgs.msg import JointState
+
+from robot_tools.btsim import BtPandaEnv
+from robot_tools.controllers import CartesianPoseController
+from robot_tools.ros import *
+
+CONTROLLER_UPDATE_RATE = 60
+JOINT_STATE_PUBLISHER_RATE = 60
+
+
+class BtSimNode:
+    def __init__(self, gui):
+        self.sim = BtPandaEnv(gui=gui, sleep=False)
+        self.controller = CartesianPoseController(self.sim.arm)
+
+        self.joint_state_pub = rospy.Publisher(
+            "/joint_states", JointState, queue_size=10
+        )
+        self.move_server = actionlib.SimpleActionServer(
+            "move",
+            franka_gripper.msg.MoveAction,
+            execute_cb=self.move,
+            auto_start=False,
+        )
+        self.move_server.start()
+        rospy.Subscriber("/target", Pose, self.target_pose_cb)
+
+    def run(self):
+        rate = rospy.Rate(self.sim.rate)
+        self.step_cnt = 0
+        while not rospy.is_shutdown():
+            self.handle_updates()
+            self.sim.step()
+            self.step_cnt = (self.step_cnt + 1) % self.sim.rate
+            rate.sleep()
+
+    def handle_updates(self):
+        if self.step_cnt % int(self.sim.rate / CONTROLLER_UPDATE_RATE) == 0:
+            self.controller.update()
+        if self.step_cnt % int(self.sim.rate / JOINT_STATE_PUBLISHER_RATE) == 0:
+            self.publish_joint_state()
+
+    def publish_joint_state(self):
+        q, dq = self.sim.arm.get_state()
+        width = self.sim.gripper.read()
+        msg = JointState()
+        msg.header.stamp = rospy.Time.now()
+        msg.name = ["panda_joint{}".format(i) for i in range(1, 8)] + [
+            "panda_finger_joint1",
+            "panda_finger_joint2",
+        ]
+        msg.position = np.r_[q, 0.5 * width, 0.5 * width]
+        msg.velocity = dq
+        self.joint_state_pub.publish(msg)
+
+    def move(self, goal):
+        self.sim.gripper.move(goal.width)
+        self.move_server.set_succeeded()
+
+    def target_pose_cb(self, msg):
+        self.controller.set_target(from_pose_msg(msg))
+
+
+def main(args):
+    rospy.init_node("bt_sim")
+    server = BtSimNode(args.gui)
+    server.run()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--gui", action="store_true")
+    args, _ = parser.parse_known_args()
+    main(args)