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Resolving Compatibility Issue between python2 and python3 #1

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Merged
k-okada merged 3 commits into from
Oct 12, 2023
Merged

Resolving Compatibility Issue between python2 and python3 #1

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dbfe1cf
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soonhyo Oct 9, 2023
17d34f7
fixed map function of python2 to list(map) in feedback position error…
soonhyo Oct 11, 2023
6260910
add absolute_import for the compatibility of python2,3
Oct 11, 2023
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20 changes: 14 additions & 6 deletions src/joint_trajectory_action/joint_trajectory_action.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,14 +28,16 @@
"""
Baxter RSDK Joint Trajectory Action Server
"""
from __future__ import absolute_import

import bisect
from copy import deepcopy
import math
import operator
import numpy as np

import bezier
import minjerk
from . import bezier
from . import minjerk

import rospy

Expand All @@ -58,6 +60,11 @@
import baxter_interface


# Python2's xrange equals Python3's range, and xrange is removed on Python3
if not hasattr(__builtins__, 'xrange'):
xrange = range


class JointTrajectoryActionServer(object):
def __init__(self, limb, reconfig_server, rate=100.0,
mode='position_w_id', interpolation='bezier'):
Expand Down Expand Up @@ -203,10 +210,11 @@ def _update_feedback(self, cmd_point, jnt_names, cur_time):
self._fdbk.desired.time_from_start = rospy.Duration.from_sec(cur_time)
self._fdbk.actual.positions = self._get_current_position(jnt_names)
self._fdbk.actual.time_from_start = rospy.Duration.from_sec(cur_time)
self._fdbk.error.positions = map(operator.sub,
self._fdbk.desired.positions,
self._fdbk.actual.positions
)
self._fdbk.error.positions = list(map(operator.sub,
self._fdbk.desired.positions,
self._fdbk.actual.positions
)
)
self._fdbk.error.time_from_start = rospy.Duration.from_sec(cur_time)
self._server.publish_feedback(self._fdbk)

Expand Down