simple_script_server::simple_script_server Class Reference

Simple script server class. More...

Public Member Functions
def	__init__
	Initializes simple_script_server class.
def	init
	Initializes different components.
def	move
	Deals with all kind of movements for different components.
def	move_base
	Deals with movements of the base.
def	move_base_rel
	Relative movement of the base.
def	move_constrained_planned
def	move_joint_goal_planned
def	move_planned
def	move_traj
	Deals with all kind of trajectory movements for different components.
def	play
	Play a sound file.
def	recover
	Recovers different components.
def	say
	Say some text.
def	set_light
	Set the color of the cob_light component.
def	set_operation_mode
	Set the operation mode for different components.
def	set_wav_path
def	sleep
	Sleep for a certain time.
def	stop
	Stops different components.
def	trigger
	Deals with all kind of trigger services for different components.
def	wait_for_input
	Waits for user input.
Public Attributes
	ns_global_prefix
	parse
	pub_light
	wav_path

Detailed Description

Simple script server class.

Implements the python interface for the script server.

Definition at line 162 of file simple_script_server.py.

Member Function Documentation

def simple_script_server::simple_script_server::__init__	(	self,
		parse = `False`
	)

Initializes simple_script_server class.

Parameters:

parse

Defines wether to run script in simulation for graph generation or not

Definition at line 166 of file simple_script_server.py.

def simple_script_server::simple_script_server::init	(	self,
		component_name,
		blocking = `True`
	)

Initializes different components.

Based on the component, the corresponding init service will be called.

Parameters:

component_name

Name of the component.

Definition at line 183 of file simple_script_server.py.

def simple_script_server::simple_script_server::move	(	self,
		component_name,
		parameter_name,
		blocking = `True`,
		mode = `None`
	)

Deals with all kind of movements for different components.

Based on the component, the corresponding move functions will be called.

Parameters:

	component_name	Name of the component.
	parameter_name	Name of the parameter on the ROS parameter server.
	blocking	Bool value to specify blocking behaviour.

Definition at line 310 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_base	(	self,
		component_name,
		parameter_name,
		blocking,
		mode
	)

Deals with movements of the base.

A target will be sent to the actionlib interface of the move_base node.

Parameters:

	component_name	Name of the component.
	parameter_name	Name of the parameter on the ROS parameter server.
	blocking	Bool value to specify blocking behaviour.

Definition at line 325 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_base_rel	(	self,
		component_name,
		parameter_name = `[0`,
		blocking = `True`
	)

Relative movement of the base.

Parameters:

	component_name	Name of component; here always "base".
	parameter_name	List of length 3: (item 1 & 2) relative x and y translation [m]; (item 3) relative rotation about z axis [rad].
	blocking	Bool value to specify blocking behaviour.

# throws error code 3 in case of invalid parameter_name vector

Definition at line 743 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_constrained_planned	(	self,
		component_name,
		parameter_name,
		blocking = `True`,
		ah = `None`
	)

Definition at line 686 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_joint_goal_planned	(	self,
		component_name,
		parameter_name,
		blocking = `True`
	)

Definition at line 569 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_planned	(	self,
		component_name,
		parameter_name,
		blocking = `True`
	)

Definition at line 566 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_traj	(	self,
		component_name,
		parameter_name,
		blocking
	)

Deals with all kind of trajectory movements for different components.

A trajectory will be sent to the actionlib interface of the corresponding component.

Parameters:

	component_name	Name of the component.
	parameter_name	Name of the parameter on the ROS parameter server.
	blocking	Bool value to specify blocking behaviour.

Definition at line 431 of file simple_script_server.py.

def simple_script_server::simple_script_server::play	(	self,
		parameter_name,
		blocking = `True`
	)

Play a sound file.

Parameters:

	parameter_name	Name of the parameter
	language	Language to use

Definition at line 957 of file simple_script_server.py.

def simple_script_server::simple_script_server::recover	(	self,
		component_name,
		blocking = `True`
	)

Recovers different components.

Based on the component, the corresponding recover service will be called.

Parameters:

component_name

Name of the component.

Definition at line 244 of file simple_script_server.py.

def simple_script_server::simple_script_server::say	(	self,
		parameter_name,
		blocking = `True`
	)

Say some text.

The text to say may be given by a list of strings or a single string which points to a parameter on the ROS parameter server.

Parameters:

	parameter_name	Name of the parameter
	language	Language to use for the TTS system

Definition at line 888 of file simple_script_server.py.

def simple_script_server::simple_script_server::set_light	(	self,
		parameter_name,
		blocking = `False`
	)

Set the color of the cob_light component.

The color is given by a parameter on the parameter server.

Parameters:

parameter_name

Name of the parameter on the parameter server which holds the rgb values.

Definition at line 825 of file simple_script_server.py.

def simple_script_server::simple_script_server::set_operation_mode	(	self,
		component_name,
		mode,
		blocking = `True`,
		planning = `False`
	)

Set the operation mode for different components.

Based on the component, the corresponding set_operation_mode service will be called.

Parameters:

	component_name	Name of the component.
	mode	Name of the operation mode to set.
	blocking	Service calls are always blocking. The parameter is only provided for compatibility with other functions.

Definition at line 805 of file simple_script_server.py.

def simple_script_server::simple_script_server::set_wav_path	(	self,
		parameter_name,
		blocking = `True`
	)

Definition at line 992 of file simple_script_server.py.

def simple_script_server::simple_script_server::sleep	(	self,
		duration
	)

Sleep for a certain time.

Parameters:

duration

Duration in seconds to sleep.

Definition at line 1006 of file simple_script_server.py.

def simple_script_server::simple_script_server::stop	(	self,
		component_name,
		mode = `"omni"`,
		blocking = `True`
	)

Stops different components.

Based on the component, the corresponding stop service will be called.

Parameters:

component_name

Name of the component.

Definition at line 191 of file simple_script_server.py.

def simple_script_server::simple_script_server::trigger	(	self,
		component_name,
		service_name,
		blocking = `True`,
		planning = `False`
	)

Deals with all kind of trigger services for different components.

Based on the component and service name, the corresponding trigger service will be called.

Parameters:

	component_name	Name of the component.
	service_name	Name of the trigger service.
	blocking	Service calls are always blocking. The parameter is only provided for compatibility with other functions.

Definition at line 254 of file simple_script_server.py.