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Changed warnings to infos, made it easier to uncomment arm 0 pos #15

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3 changes: 2 additions & 1 deletion hlpr_gazebo/launch/vector_controllers.launch
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,8 @@
<!-- Setup initial simulation positions -->
<node name="r_sim_setup" pkg="hlpr_gazebo" type="body_part_setup.py" output="screen"
args="vector/right_arm">
<!--param name="init_position" value="0, 3.14, 3.14, 0, 0, 0"/ ZERO CONFIG (straight out)-->
<!-- ZERO CONFIG (straight out) -->
<!-- <param name="init_position" value="0, 3.14, 3.14, 0, 0, 0"/> -->
<param name="init_position" value="-1.92, 1.50, 0.53, -2.50, -2.91, 0.72"/>
</node>

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6 changes: 3 additions & 3 deletions hlpr_gazebo/src/vector_control_interface.py
Original file line number Diff line number Diff line change
Expand Up @@ -131,15 +131,15 @@ def __init__(self):
self.gripper_cmd[self.RIGHT_KEY] = None

# Initialize components for moveit IK service
rospy.logwarn("Waiting for MoveIt! for 10 seconds...")
rospy.loginfo("Waiting for MoveIt! for 10 seconds...")
try:
rospy.wait_for_service('compute_ik', timeout=10.0) # Wait for 10 seconds and assumes we don't want IK
self.compute_ik = rospy.ServiceProxy('compute_ik', GetPositionIK)
except rospy.ROSException, e:
rospy.logwarn("MoveIt was not loaded and arm teleop will not be available")
rospy.loginfo("MoveIt was not loaded and arm teleop will not be available")
self.compute_ik = None
else:
rospy.logwarn("MoveIt detected")
rospy.loginfo("MoveIt detected")
self.eef_sub = rospy.Subscriber('/vector/right_arm/cartesian_vel_cmd', JacoCartesianVelocityCmd, self.EEFCallback, queue_size=1)

rospy.loginfo("Done Init")
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