def move_to_start()

in src/rosbridge/fetch_proxy.py [0:0]

• 45 lines of code
• 5 McCabe index (conditional complexity)

    def move_to_start(self):

        self.moving_mode = True
        # Look down
        goal = PointHeadGoal()
        goal.target.header.stamp = rospy.Time.now()
        goal.target.header.frame_id = '/base_link'
        goal.target.point.x = 1.5
        goal.target.point.y = 0.0
        goal.target.point.z = -0.2
        goal.min_duration = rospy.Duration(0.5)
        if 0: logger.info('Point head to %s...', goal);
        self.head_point_client.send_goal(goal)
        if 0: logger.info('Point head sent')

        goal = GripperCommandGoal()
        goal.command.max_effort = 60
        goal.command.position = 0.1
        self.gripper_client.send_goal(goal)

        joints = [
            'shoulder_pan_joint',
            'shoulder_lift_joint',
            'upperarm_roll_joint',
            'elbow_flex_joint',
            'forearm_roll_joint',
            'wrist_flex_joint',
            'wrist_roll_joint',
        ]
        pose = [0.0, +0.8, 0.0, -0.8, 0.0, 0.0, 0.0]
        result = self.arm_move_group.moveToJointPosition(joints, pose, plan_only=True)
        if result.error_code.val == MoveItErrorCodes.SUCCESS:
            if 0: logger.info('Got trajectory %s', result.planned_trajectory)
            follow_goal = FollowJointTrajectoryGoal()
            follow_goal.trajectory = result.planned_trajectory.joint_trajectory
            logger.info('sending trajectory to arm...')
            self.arm_trajectory_client.send_goal(follow_goal)
            result = self.arm_trajectory_client.wait_for_result()
            logger.info('arm followed trajectory %s', result)
        else:
            logger.warn('moveToJointPosition returned %s', result)
            return

        result = self.head_point_client.wait_for_result()
        logger.info('head followed trajectory %s', result)

        logger.info('sending empty arm goal')
        empty_goal = FollowJointTrajectoryGoal()
        self.arm_trajectory_client.send_goal(empty_goal)

        logger.info('Point head done')
        self.moving_mode = False