Install roseus_resume interruption handler for pr2 #485
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| @@ -5,6 +5,17 @@ | |||
| (require :pr2-utils "package://pr2eus/pr2-utils.l") | |||
| (require :robot-interface "package://pr2eus/robot-interface.l") | |||
| (require :speak "package://pr2eus/speak.l") | |||
| (defvar *enable-roseus-resume* (ros::rospack-find "roseus_resume")) | |||
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should we put this code in robot-interface?
| (if *enable-roseus-resume* | ||
| (progn | ||
| (warning-message 3 "Installing interruption handler...~%") | ||
| (roseus_resume::install-interruption-handler self |
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I am not familer with roseus_resume API, but define
(:install-roseus-resume-interruption-handler (args)
(if *enable-roseus-resume* (progn ...) (progn ....)
in robot-interface or robot-move-base-interface and add
(send self :install-roseus-resume-interaption-handler (list r-gripper-action l-gripper-action))
in pr2-interface.l
- I am qurious why we do not have to specity joint-trajectory-action?
- if we need to install all actionclient, may be we try to find them from program code
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I think that adding a :install-roseus-resume-interruption-handler method in the robot interface with internal checking is a valid approach for portability.
I am curious why we do not have to specify joint-trajectory-action?
We already have access to joint trajectory actions via the controller-actions slot in the robot interface. So we only need to pass the "additional" actions in initialization.
https://github.com/Affonso-Gui/roseus_resume/blob/eus10/euslisp/interruption-handler.l#L51-L58
if we need to install all actionclient, may be we try to find them from program code
It is theoretically possible to loop through all slots/bindings/symbols and register all instances of ros::simple-action-client.
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can we add additional controllers into controller-actions?
if not, we can make a new slot for additional controllers such as additional-controller-actions.
If we can do this, we no more need to change codes in fetcheus or baxtereus, we only need to change pr2eus/robot-interface.l.
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also, we need to change the order.
(send-super* :init args) is normally called at the first of :init, and we need to move :add-controller before send-super.
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closed via #488 |
this PR install
roseus_resumeinterruption handler forpr2-interface.this PR doesn't load
roseus_resumewhenroseus_resumeis not found.cc. @Affonso-Gui