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Use hrpsys_config.py in seq walking sample. #79

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Apr 30, 2014
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Use hrpsys_config.py in seq walking sample. #79

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use hrpsys_config.py for creating RTCs, connecting of ports, and acti…
Apr 20, 2014
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Merge remote-tracking branch 'origin/master' into use_hrpsys_config_f…
Apr 30, 2014
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import imp package and roslib
Apr 30, 2014
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81 changes: 25 additions & 56 deletions samples/samplerobot-walk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,67 +7,36 @@
$ rosrun hrpsys samplerobot-walk.py

"""
import imp, sys, os

# set path to hrpsys to get import rpy, see <hrpsys>/test/test-samplerobot.py for using HrpsysConfigurator
try:
imp.find_module('hrpsys') # catkin installed
sys.path.append(imp.find_module('hrpsys')[1]) # set path to hrpsys
except: # rosbuild installed
import rospkg
rp = rospkg.RosPack()
sys.path.append(rp.get_path('hrpsys')+'/lib/python2.7/dist-packages/hrpsys')
sys.path.append(rp.get_path('openrtm_aist_python')+'/lib/python2.7/dist-packages')



import rtm

from rtm import *
from OpenHRP import *

def connectComps():
connectPorts(bridge.port("q"), seq.port("qInit"))
#
connectPorts(seq.port("qRef"), hgc.port("qIn"))
#

def activateComps():
rtm.serializeComponents([bridge, seq])
seq.start()

def createComps():
global bridge, seq, seq_svc, hgc

bridge = findRTC("SampleRobot(Robot)0")

ms.load("SequencePlayer")
seq = ms.create("SequencePlayer", "seq")
seq_svc = narrow(seq.service("service0"),"SequencePlayerService")

hgc = findRTC("HGcontroller0")

def init():
global ms

ms = rtm.findRTCmanager()

print "creating components"
createComps()

print "connecting components"
connectComps()

print "activating components"
activateComps()
print "initialized successfully"
pkg = 'hrpsys'
import imp
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Do not delete line for catkin

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These lines are copied from hrpsys_tools_config.py:
https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/scripts/hrpsys_tools_config.py

I thought hrpsys_tools_config.py worked on both rosbuild and catkin.
Is this correct?

sensor_ros_bridge_connect.py has another way to import hrpsys_config.py.
https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py

I'd like to know which is the best way to import hrpsys_config.py.

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https://github.com/start-jsk/rtmros_common/blob/9c30250a5df5793dd9df0b161fc7642835755b67/hrpsys_ros_bridge/scripts/hrpsys_dashboard is the good example of writing python code that works on both rosmake and catkin.

the example you mentioned had some trouble on same situation (sorry I can't point out but it actually have problem)

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Thanks, I referred [1] and I checkout committed PR works both on rosbuild and catkin.

[1] https://github.com/start-jsk/rtmros_common/blob/9c30250a5df5793dd9df0b161fc7642835755b67/hrpsys_ros_bridge/scripts/hrpsys_dashboard

try:
imp.find_module(pkg)
except:
import roslib
roslib.load_manifest(pkg)

from hrpsys.hrpsys_config import *
import OpenHRP

def getRTCList ():
return [
['seq', "SequencePlayer"],
['sh', "StateHolder"],
['fk', "ForwardKinematics"]
]

def init ():
global hcf
hcf = HrpsysConfigurator()
hcf.getRTCList = getRTCList
hcf.init ("SampleRobot(Robot)0")

def loadPattern(basename, tm=1.0):
seq_svc.loadPattern(basename, tm)
seq_svc.waitInterpolation()
hcf.seq_svc.loadPattern(basename, tm)
hcf.seq_svc.waitInterpolation()

if __name__ == '__main__':
initCORBA()
init()

from subprocess import check_output
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