调用方式为:
rosrun baxter_moveit_config endpoint_recorder.py -f filename #此处filename为要保存的文件名,后面还可加上采集频率,但是采集频率过高会造成在轨迹复原的时候,机械臂抖动的特别厉害,建议20HZ就可以
代码如下:
#!/usr/bin/env python
import argparse
import rospy
import baxter_interface
from baxter_interface import CHECK_VERSION
class JointRecorder(object):
def __init__(self, filename, rate):
"""
Records joint data to a file at a specified rate.
"""
self._filename = filename
self._raw_rate = rate
self._rate = rospy.Rate(rate)
self._start_time = rospy.get_time()
self._done = False
self._limb_left = baxter_interface.Limb("left")
self._limb_right = baxter_interface.Limb("right")
def _time_stamp(self):