simple_script_server::simple_script_server Class Reference

Simple script server class. More...

Public Member Functions
def	__init__
	Initializes simple_script_server class.
def	add_object
	Add an object to the environment_server.
def	attach_object
	Attach a known object to the robot's SDH.
def	detach_object
	Detach an attached object from the robot's SDH.
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_cart
def	move_cart_planned
	Move to a simple pose goal - planned.
def	move_cart_rel
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	remove_object
	Remove an object from the environment_server.
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 160 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 164 of file simple_script_server.py.

def simple_script_server::simple_script_server::add_object	(	self,
		object_name,
		blocking = `True`
	)

Add an object to the environment_server.

Parameters:

object_name

name of the object

Definition at line 1039 of file simple_script_server.py.

def simple_script_server::simple_script_server::attach_object	(	self,
		object_name,
		blocking = `True`
	)

Attach a known object to the robot's SDH.

Parameters:

object_name

name of the object

Definition at line 1093 of file simple_script_server.py.

def simple_script_server::simple_script_server::detach_object	(	self,
		object_name,
		blocking = `True`
	)

Detach an attached object from the robot's SDH.

Parameters:

object_name

name of the object

Definition at line 1120 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 181 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 257 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 272 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_cart	(	self,
		component_name,
		parameter_name = `["/base_link"`,
		blocking = `True`
	)

Definition at line 654 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_cart_planned	(	self,
		component_name,
		parameter_name = `[[0.0`,
		blocking = `True`
	)

Move to a simple pose goal - planned.

recieves a cartesian pose (position, orientation) for 'arm_7_link' given in 'base_footprint' reference coordinate system
sends the goal to move_arm
move_arm will call the IK-solver
if configuration is found, the specified planner is called to find a collision-free trajectory
if successful the motion is executed

ADD-ON: use another parameter to specify the reference frame and do transformation in cob_script_server::move_cart_planned

Definition at line 713 of file simple_script_server.py.

def simple_script_server::simple_script_server::move_cart_rel	(	self,
		component_name,
		parameter_name = `[[0.0`,
		blocking = `True`
	)

Definition at line 700 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 509 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 375 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 993 of file simple_script_server.py.

def simple_script_server::simple_script_server::recover	(	self,
		component_name
	)

Recovers different components.

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

Parameters:

component_name

Name of the component.

Definition at line 197 of file simple_script_server.py.

def simple_script_server::simple_script_server::remove_object	(	self,
		object_name,
		blocking = `True`
	)

Remove an object from the environment_server.

Parameters:

object_name

name of the object

Definition at line 1066 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 924 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 857 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 837 of file simple_script_server.py.

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

Definition at line 1025 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 1149 of file simple_script_server.py.

def simple_script_server::simple_script_server::stop	(	self,
		component_name
	)

Stops different components.

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

Parameters:

component_name

Name of the component.

Definition at line 189 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 207 of file simple_script_server.py.