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Commit 3c24c732 authored by Simon Wittl's avatar Simon Wittl
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error namespace

parent 7024e82c
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git+https://github.com/filippocastelli/pyometiff
git+https://github.com/harisankar95/pathfinding3D
git+https://github.com/wittlsn/aRTist-PythonLib/
\ No newline at end of file
git+https://mygit.th-deg.de/roboct-public/artist-api
\ No newline at end of file
import artistlib.hardware
import rclpy.publisher
from rq_interfaces.srv import ReachabilityMapCheck, AquireProjection, ReachabilityCheck
from rq_interfaces.msg import Volume
......@@ -7,8 +5,9 @@ from ..base_hardware_service import BaseHardwareInterfaceService
from rq_controller.common import PyProjection, PyRegionOfIntrest, PyVolume
try:
import artistlib
from artistlib import utility as artist_utility
import artist_pythonlib
from artist_pythonlib import utility as artist_utility
import artist_pythonlib.hardware
except ModuleNotFoundError:
raise ModuleNotFoundError("aRTist API not found")
......@@ -51,9 +50,9 @@ class ArtistHardwareInterface(BaseHardwareInterfaceService):
:param node_name: The name of the node. Defaults to 'rq_hardware_interface_service'.
"""
super().__init__(node_name)
self.api = artistlib.API()
self.source = artistlib.hardware.XraySource(self.api)
self.detector = artistlib.hardware.XrayDetector(self.api)
self.api = artist_pythonlib.API()
self.source = artist_pythonlib.hardware.XraySource(self.api)
self.detector = artist_pythonlib.hardware.XrayDetector(self.api)
self.mesh_publisher = self.create_publisher(
Mesh, "rq_artist_collision_mesh_mm", 10
)
......
......@@ -35,7 +35,7 @@ class BaseHardwareInterfaceService(Node):
:param node_name: The name of the node. Defaults to 'rq_base_hardware_interface_service'.
"""
super().__init__(nodename, namespace="rq")
super().__init__(nodename)
self.aquire_projection_srv = self.create_service(
AquireProjection, "aquire_projection", self.aquire_projection_callback
......
......@@ -21,7 +21,7 @@ class HardwareClient(Node):
:param kwargs: Additional keyword arguments to pass to the Node initialization.
"""
super().__init__("rq_hardware_client", namespace="rq", **kwargs)
super().__init__("rq_hardware_client", **kwargs)
self.cli_projection = self.create_client(AquireProjection, "aquire_projection")
while not self.cli_projection.wait_for_service(timeout_sec=1.0):
self.get_logger().info("projection service not available, waiting again...")
......
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