Adds english comments to the remaining files

sciurus17_examples/scripts/preset_pid_gain_example.py

@@ -23,10 +23,13 @@
 def preset_pid_gain(pid_gain_no):
     # サーボモータのPIDゲインをプリセットする
     # プリセットの内容はsciurus7_control/scripts/preset_reconfigure.pyに書かれている
+    # Presets the PID gains of the servo motor
+    # The presets are written in sciurus7_control/scripts/preset_reconfigure.py
     print("PID Gain Preset. No." + str(pid_gain_no))
     preset_no = UInt8()
     preset_no.data = pid_gain_no
     pub_preset.publish(preset_no)
+    # Waits until the PID gain is set
     rospy.sleep(1) # PIDゲインがセットされるまで待つ
 
 
@@ -36,27 +39,34 @@ def main():
     arm.set_max_velocity_scaling_factor(0.1)
 
     # サーボモータのPIDゲインをプリセット
+    # Presets the PID gain of the servo motor
     preset_pid_gain(0)
 
     # SRDFに定義されている"r_arm_init_pose"の姿勢にする
+    # Moves the robot the the "r_arm_init_pose" pose defined in the SRDF
     print("set named target : r_arm_init_pose")
     arm.set_named_target("r_arm_init_pose")
     arm.go()
 
     # サーボモータのPIDゲインをプリセット
     # Pゲインが小さくなるので、Sciurus17の右手を人間の手で動かすことが可能
+    # Presets the PID gain of the servo motor
+    # You can move the Sciurus17's right arm because the P gain decreases
     preset_pid_gain(4)
 
     # 動作確認のため数秒間待つ
+    # Waits a couple seconds for operation confirmation
     sleep_seconds = 10
     for i in range(sleep_seconds):
         print( str(sleep_seconds-i) + " counts left.")
         rospy.sleep(1)
         # 安全のため、現在の右手先姿勢を目標姿勢に変更する
+        # Updates the target pose to the current pose for safety reasons
         arm.set_pose_target(arm.get_current_pose())
         arm.go()
 
     # サーボモータのPIDゲインをプリセット
+    # Presets the PID gain of the servo motor
     preset_pid_gain(0)
 
     print("set named target : r_arm_init_pose")
@@ -68,6 +78,7 @@ def main():
 
 if __name__ == '__main__':
     # PIDゲインプリセット用のPublisher
+    # The Publisher for the PID gain presets
     pub_preset = rospy.Publisher("preset_gain_no", UInt8, queue_size=1)
 
     try:

sciurus17_examples/scripts/waist_joint_trajectory_example.py

@@ -27,6 +27,7 @@
 
 class WaistYaw(object):
     # 初期化処理
+    # Initialize
     def __init__(self):
         self.__client = actionlib.SimpleActionClient("/sciurus17/controller3/waist_yaw_controller/follow_joint_trajectory",
                                                      FollowJointTrajectoryAction)
@@ -39,31 +40,38 @@ def __init__(self):
         self.present_angle = 0.0
 
     # 現在角度を設定
+    # Sets the current angle
     def set_present_angle(self, angle):
         self.present_angle = angle
 
     # 目標角度の設定と実行
+    # Sets the target angle and executes
     def set_angle(self, yaw_angle, goal_sec):
         goal = FollowJointTrajectoryGoal()
         goal.trajectory.joint_names = ["waist_yaw_joint"]
 
         # 現在の角度から開始（遷移時間は現在時刻）
+        # Starts from the current angle (The transition time is the current time)
         yawpoint = JointTrajectoryPoint()
         yawpoint.positions.append(self.present_angle)
         yawpoint.time_from_start = rospy.Duration(nsecs=1)
         goal.trajectory.points.append(yawpoint)
 
         # 途中に角度と時刻をappendすると細かい速度制御が可能
         # 参考=> http://wiki.ros.org/joint_trajectory_controller/UnderstandingTrajectoryReplacement
+        # You can do a fine speed control if you append the angle and time in between
+        # Ref=> http://wiki.ros.org/joint_trajectory_controller/UnderstandingTrajectoryReplacement
 
         # ゴール角度を設定（指定されたゴール時間で到達）
+        # Sets the goal angle (Arrives at the specified goal time)
         yawpoint = JointTrajectoryPoint()
         yawpoint.positions.append(yaw_angle)
         yawpoint.time_from_start = rospy.Duration(goal_sec)
         goal.trajectory.points.append(yawpoint)
         self.present_angle = yaw_angle
 
         # 軌道計画を実行
+        # Executes the planned trajectory
         self.__client.send_goal(goal)
         self.__client.wait_for_result(rospy.Duration(goal_sec))
         return self.__client.get_result()
@@ -75,16 +83,21 @@ def set_angle(self, yaw_angle, goal_sec):
     wy.set_present_angle(math.radians(0.0))
 
     # まず正面を向く
+    # Faces the front
     wy.set_angle(math.radians(0.0), 0.1)
     rospy.sleep(1.0)
     # 左45度,1秒
+    # Left 45 degrees, 1 second
     wy.set_angle(math.radians(45.0), 1.0)
     rospy.sleep(1.0)
     # 正面：1秒
+    # Fornt 1 second
     wy.set_angle(math.radians(0.0), 1.0)
     rospy.sleep(1.0)
     # 右45度,1秒
+    # Right 45 degrees, 1 second
     wy.set_angle(math.radians(-45.0), 1.0)
     rospy.sleep(1.0)
     # 正面,1秒
+    # Front 1 second
     wy.set_angle(math.radians(0.0), 1.0)