Minor updates for release 2.1: fixes for Python 3, added Matlab examp…

…le for `while handle.is_busy()`

dvrk_matlab/examples/test_move_wait.m

@@ -0,0 +1,88 @@
+% call methods to make sure they exist and don't trigger syntax errors
+% this test program will make the arm move!
+function test_move_wait(arm_name)
+    try
+        rosnode list;
+    catch
+        rosinit;
+    end
+    r = dvrk.arm(arm_name);
+    disp('---- Enabling (waiting up to 30s)');
+    if ~r.enable(30.0)
+        error('Unable to enable arm');
+    end
+    disp('---- Homing (waiting up to 30s)');
+    if ~r.home(30.0)
+        error('Unable to home arm');
+    end
+
+    % amplitude of motion
+    amplitude = deg2rad(10.0);
+    goal = r.setpoint_js();
+    initial_position = goal(1);
+
+    % move_jp
+    disp('--> Testing the trajectory with wait()');
+
+    tic;
+
+    % first motion
+    goal(1) = initial_position + amplitude;
+    r.move_jp(goal).wait();
+
+    % second motion
+    goal(1) = initial_position - amplitude;
+    r.move_jp(goal).wait();
+
+    % third motion
+    goal(1) = initial_position;
+    r.move_jp(goal).wait();
+
+    fprintf('--> Time for the full trajectory: ');
+    toc
+
+    % now with "busy" loop
+    disp('--> Testing the trajectory with busy loop')
+
+    counter = 0;
+
+    tic;
+
+    % first motion
+    goal(1) = initial_position + amplitude;
+    handle = r.move_jp(goal);
+    while handle.is_busy()
+        counter = counter + 1;
+        fprintf('%g ', counter);
+    end
+
+    % second motion
+    goal(1) = initial_position - amplitude;
+    handle = r.move_jp(goal);
+    fprintf('\n');
+    while handle.is_busy()
+        counter = counter + 1;
+        fprintf('%g ', counter);
+    end
+
+    % third motion
+    goal(1) = initial_position;
+    handle = r.move_jp(goal);
+    fprintf('\n');
+    while handle.is_busy()
+        counter = counter + 1;
+        fprintf('%g ', counter);
+    end
+
+    fprintf('\n');
+
+    fprintf('--> Time for the full trajectory: ');
+    toc
+
+    fprintf('--> You can change the trajectory velocity in the GUI using "%s", "Direct control" and lower the "100%%" factor. Then re-run this program.\n', ...
+            arm_name)
+
+    % don't forget to cleanup
+    disp('---- Delete arm class');
+    delete(r);
+end

dvrk_python/scripts/dvrk_move_wait_test.py

@@ -83,15 +83,15 @@
 handle = arm.move_jp(goal)
 while handle.is_busy():
     counter = counter + 1
-    sys.stdout.write('\r-- Loop counter: %d' % (counter))
+    sys.stdout.write('\r---> Loop counter: %d' % (counter))
     sys.stdout.flush()
 
 # second motion
 goal[0] = initial_joint_position[0] - amplitude
 handle = arm.move_jp(goal)
 while handle.is_busy():
     counter = counter + 1
-    sys.stdout.write('\r-- Loop counter: %d' % (counter))
+    sys.stdout.write('\r---> Loop counter: %d' % (counter))
     sys.stdout.flush()
 
 # back to initial position
@@ -104,4 +104,4 @@
 print('')
 print('--> Time for the full trajectory: %f seconds' % (time.time() - start_time))
 
-print('--> You can change the trajectory velocity in the GUI using "arm", "Direct control" and lower the "100%%" factor.  Then re-run this program.')
+print('--> You can change the trajectory velocity in the GUI using "%s", "Direct control" and lower the "100%%" factor.  Then re-run this program.' % (args.arm))

dvrk_robot/scripts/dvrk_calibrate_potentiometers.py

@@ -2,7 +2,7 @@
 
 # Authors: Nick Eusman, Anton Deguet
 # Date: 2015-09-24
-# Copyright JHU 2015-2020
+# Copyright JHU 2015-2021
 
 import time
 import rospy
@@ -254,7 +254,7 @@ def run(self, calibrate, filename):
             if arm_type == "PSM":
                 print("For a PSM, you need to hold at least the last 4 joints in zero position.  If you don't have a way to constrain the first 3 joints, you can still just calibrate the last 4.  This program will ask you later if you want to save all PSM joint offsets");
             input("Press [enter] to continue\n")
-            nb_samples = 5 * nb_samples_per_position
+            nb_samples = 2 * nb_samples_per_position
             for sample in range(nb_samples):
                 for axis in range(nb_axis):
                     average_offsets[axis].append(self._last_potentiometers[axis] * r2d)

dvrk_ros.rosinstall

@@ -9,7 +9,7 @@
 - git:
     local-name: cisst-saw/cisst-ros
     uri: https://github.com/jhu-cisst/cisst-ros
-    version: 2.0.0
+    version: devel
 - git:
     local-name: cisst-saw/sawRobotIO1394
     uri: https://github.com/jhu-saw/sawRobotIO1394
@@ -33,11 +33,11 @@
 - git:
     local-name: crtk/crtk_python_client
     uri: https://github.com/collaborative-robotics/crtk_python_client
-    version: devel
+    version: 1.0.1
 - git:
     local-name: crtk/crtk_matlab_client
     uri: https://github.com/collaborative-robotics/crtk_matlab_client
-    version: 1.0.0
+    version: 1.0.1
 - git:
     local-name: cisst-saw/sawIntuitiveResearchKit
     uri: https://github.com/jhu-dvrk/sawIntuitiveResearchKit