articulate_cart_server::articulateCartServer Class Reference

Inheritance diagram for articulate_cart_server::articulateCartServer:

[legend]

List of all members.

Public Member Functions
def	__init__
def	euler_list_to_pose_msg
def	get_l_drift_twist
def	get_rel_pose
def	get_tf_transform
def	get_transform_param
def	get_twist_SSE
def	interpolate_pose_tup
def	interpolate_twist_tup
def	pose_msg_to_euler_list
def	pose_tup_to_euler_list
def	pose_tup_to_matrix
def	pose_tup_to_msg
def	set_new_pose
def	set_transform_param
def	twist_msg_to_tup
def	twist_tup_to_msg
Public Attributes
	invalid_pose_pub
	Publisher for when when an invalid pose is received.
Static Public Attributes
float	errthresh = 0.02
Private Member Functions
def	_active_cb
def	_check_cart_pose
def	_fake_twist_controller
def	_fake_twist_goal_cb
def	_initialize_poses
def	_initialize_ros_coms
def	_l_arm_err_cb
def	_pose_command_action
def	_posture_loop
def	_r_arm_err_cb
Private Attributes
	_active
	Attach to all topics and services.
	_active_pub
	_active_sub
	_cart_t_max
	_cart_t_min
	_cart_x_max
	_cart_x_min
	Load cart workspace constraints from parameter server.
	_cart_y_max
	_cart_y_min
	_fake_twist_loop_started
	_goal_sub
	subscriber for goal topic
	_l_arm_err_lock
	_l_arm_err_twist
	_l_arm_pose_pub
	_l_arm_SSE
	_l_arm_sub
	_l_arm_twist_pub
	_l_posture_pub
	_l_xfm
	_last_twist_req
	_last_warn_infeasible
	_pose_mutex
	Mutex for pose-related members {_cart_pose_tup, _cart_pose_msg, _pose_resp, _twist_req, _cart_pose_euler}.
	_postures
	Hard-code a set of arm postures.
	_r_arm_err_lock
	_r_arm_err_twist
	_r_arm_pose_pub
	publisher for arm cartesian pose/twist controller
	_r_arm_SSE
	_r_arm_sub
	subscriber for arm state errors
	_r_arm_twist_pub
	_r_posture_pub
	Publishers for teleop_controllers' posture topics.
	_r_xfm
	_tf_object_name
	_tl
	_twist_req
Static Private Attributes
tuple	_l_arm_err_twist = Twist()
int	_l_arm_SSE = 0
tuple	_r_arm_err_twist = Twist()
int	_r_arm_SSE = 0

---

Detailed Description

A server for manipulating a cart being grasped by the grippers
of the pr2.  Uses manipulation_transforms to compute gripper poses satisfying
incoming goal requests.  Goals for the cart pose are specified in the
base_footprint frame.  manipulation_transforms is used to map this goal to
gripper poses in the base_footprint frame, which are then written
to the goal topics for teleop_controllers (make sure to specify base_footprint
as the frame_id rather than torso_lift_link).
Accepts goals as PoseStamped messages, and issues PoseStamped messages
to the arms.

Definition at line 51 of file articulate_cart_server.py.

---

Member Function Documentation

def articulate_cart_server::articulateCartServer::__init__	(		self,
			tf_object_name
	)

Parameters:

tf_object_name,:

if non-empty, attempt to lookup object initial pose on tf with given frame name, and re-initialize manipulation_transforms

Definition at line 73 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_active_cb	(		self,
			msg
	)			[private]

Definition at line 139 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_check_cart_pose	(		self,
			pose
	)			[private]

Returns true if pose is reachable given workspace constraints of cart

Definition at line 470 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_fake_twist_controller	(		self,
			r = 20,
			recovery_horizon = 5
	)			[private]

Simulates the twist applied to the object, and updates the gripper poses accordingly.

Definition at line 240 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_fake_twist_goal_cb	(		self,
			msg
	)			[private]

An alternative callback for twist messages that spawns an internal controller to simulate
the object twist action using pose commands

Definition at line 199 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_initialize_poses

(

self

)

[private]

Definition at line 176 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_initialize_ros_coms

(

self

)

[private]

Definition at line 151 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_l_arm_err_cb	(		self,
			twist
	)			[private]

Definition at line 226 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_pose_command_action	(		self,
			r_desired,
			l_desired
	)			[private]

Send the target effector poses to the arm control topics
Assumes that self._pose_resp is up-to-date

Definition at line 311 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_posture_loop	(		self,
			r_posture,
			l_posture
	)			[private]

Send updates to the posture topic every ROS second 

Definition at line 232 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::_r_arm_err_cb	(		self,
			twist
	)			[private]

Definition at line 220 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::euler_list_to_pose_msg	(		self,
			euler_pose
	)

convert to pose represented as a list [[vector],[euler angles]] to a Pose msg

Definition at line 392 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::get_l_drift_twist

(

self

)

Uses pose call to solver to compute error at left gripper, and returns as twist

Definition at line 435 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::get_rel_pose	(		self,
			p1,
			p2
	)

Compute relative pose of p2 in frame of p1 (4x4 numpy arrays)

Definition at line 371 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::get_tf_transform	(		self,
			ref_frame,
			target_frame
	)

An exception-handling method for querying a transform from tf

Definition at line 426 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::get_transform_param	(		self,
			name
	)

Returns the named transform as a pose tuple

Arguments:
- `name`: string matching a pose on the param server

Definition at line 331 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::get_twist_SSE	(		self,
			twist
	)

Definition at line 462 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::interpolate_pose_tup	(		self,
			p1,
			p2,
			blend = 0.5
	)

Returns weighted interpolation of two pose tuples ((vector), (quaternion))

Definition at line 414 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::interpolate_twist_tup	(		self,
			t1,
			t2,
			blend = 0.5
	)

Returns a weighted average of two twist tuples ((linear), (angular))

Definition at line 420 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::pose_msg_to_euler_list	(		self,
			Pose
	)

Returns a list representation of Pose [[vector],[euler angles]]

Definition at line 383 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::pose_tup_to_euler_list	(		self,
			position,
			orientation
	)

Returns a list representation of Pose [[vector],[euler angles]]

Definition at line 375 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::pose_tup_to_matrix	(		self,
			tup
	)

Returns a numpy 4x4 transform array from a pose provided in a tuple ((vector), (quaternion))

Definition at line 351 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::pose_tup_to_msg	(		self,
			tup
	)

Returns Pose message assembled from tf query tuple 

Definition at line 359 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::set_new_pose	(		self,
			p
	)

Definition at line 304 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::set_transform_param	(		self,
			name,
			pose_tup
	)

Sets the provided transform param tuple on the paramater server in "cart format"

Arguments:
- `pose_tup`: a tuple containing ((trans),(rot))
- `name`: a string to set

Definition at line 342 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::twist_msg_to_tup	(		self,
			msg
	)

Returns a twist tuple ((linear), (angular)) from parameters in a Twist message 

Definition at line 398 of file articulate_cart_server.py.

def articulate_cart_server::articulateCartServer::twist_tup_to_msg	(		self,
			tup
	)

Returns a Twist message from parameters in a tuple ((linear), (angular))

Definition at line 403 of file articulate_cart_server.py.

---

Member Data Documentation

articulate_cart_server::articulateCartServer::_active [private]

Attach to all topics and services.

Definition at line 122 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_active_pub [private]

Definition at line 125 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_active_sub [private]

Definition at line 123 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_cart_t_max [private]

Definition at line 98 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_cart_t_min [private]

Definition at line 97 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_cart_x_max [private]

Definition at line 94 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_cart_x_min [private]

Load cart workspace constraints from parameter server.

Definition at line 93 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_cart_y_max [private]

Definition at line 96 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_cart_y_min [private]

Definition at line 95 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_fake_twist_loop_started [private]

Definition at line 80 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_goal_sub [private]

subscriber for goal topic

Definition at line 153 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_l_arm_err_lock [private]

Definition at line 173 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_l_arm_err_twist [private]

Definition at line 228 of file articulate_cart_server.py.

tuple articulate_cart_server::articulateCartServer::_l_arm_err_twist = Twist() [static, private]

Definition at line 67 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_l_arm_pose_pub [private]

Definition at line 158 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_l_arm_SSE [private]

Definition at line 229 of file articulate_cart_server.py.

int articulate_cart_server::articulateCartServer::_l_arm_SSE = 0 [static, private]

Definition at line 65 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_l_arm_sub [private]

Definition at line 171 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_l_arm_twist_pub [private]

Definition at line 160 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_l_posture_pub [private]

Definition at line 164 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_l_xfm [private]

Definition at line 90 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_last_twist_req [private]

Definition at line 87 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_last_warn_infeasible [private]

Definition at line 82 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_pose_mutex [private]

Mutex for pose-related members {_cart_pose_tup, _cart_pose_msg, _pose_resp, _twist_req, _cart_pose_euler}.

Definition at line 85 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_postures [private]

Hard-code a set of arm postures.

Definition at line 101 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_r_arm_err_lock [private]

Definition at line 172 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_r_arm_err_twist [private]

Definition at line 222 of file articulate_cart_server.py.

tuple articulate_cart_server::articulateCartServer::_r_arm_err_twist = Twist() [static, private]

Definition at line 66 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_r_arm_pose_pub [private]

publisher for arm cartesian pose/twist controller

Definition at line 157 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_r_arm_SSE [private]

Definition at line 223 of file articulate_cart_server.py.

int articulate_cart_server::articulateCartServer::_r_arm_SSE = 0 [static, private]

Definition at line 64 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_r_arm_sub [private]

subscriber for arm state errors

Definition at line 170 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_r_arm_twist_pub [private]

Definition at line 159 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_r_posture_pub [private]

Publishers for teleop_controllers' posture topics.

Definition at line 163 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_r_xfm [private]

Definition at line 89 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_tf_object_name [private]

Definition at line 74 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_tl [private]

Definition at line 77 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::_twist_req [private]

Definition at line 212 of file articulate_cart_server.py.

float articulate_cart_server::articulateCartServer::errthresh = 0.02 [static]

Definition at line 68 of file articulate_cart_server.py.

articulate_cart_server::articulateCartServer::invalid_pose_pub

Publisher for when when an invalid pose is received.

Definition at line 167 of file articulate_cart_server.py.

---

The documentation for this class was generated from the following file:

• articulate_cart_server.py