collision_free_arm_cmder Namespace Reference

Variables
dictionary	arm_ranges
tuple	client
tuple	cmder = ArmCmder(client, arm_ranges, recovery_client, recovery_positions)
tuple	my_rate = rospy.Rate(1.0)
string	PKG = 'life_test'
	Sends goals to arm to move it in collision free way.
tuple	recovery_client
dictionary	recovery_positions

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Variable Documentation

dictionary collision_free_arm_cmder::arm_ranges

Initial value:

{
    'r_shoulder_pan_joint': (-2.0, 0.4),
    'r_shoulder_lift_joint': (-0.4, 1.25),
    'r_upper_arm_roll_joint': (-3.5, 0.3),
    'r_elbow_flex_joint': (-2.0, -0.05) 
}

Definition at line 41 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::client

Initial value:

actionlib.SimpleActionClient('collision_free_arm_trajectory_action_right_arm', 
                                          JointTrajectoryAction)

Definition at line 57 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::cmder = ArmCmder(client, arm_ranges, recovery_client, recovery_positions)

Definition at line 68 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::my_rate = rospy.Rate(1.0)

Definition at line 63 of file collision_free_arm_cmder.py.

string collision_free_arm_cmder::PKG = 'life_test'

Sends goals to arm to move it in collision free way.

Author:

Kevin Watts

Definition at line 33 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::recovery_client

Initial value:

actionlib.SimpleActionClient('r_arm_controller/joint_trajectory_action',
                                                JointTrajectoryAction)

Definition at line 65 of file collision_free_arm_cmder.py.

dictionary collision_free_arm_cmder::recovery_positions

Initial value:

{
    'r_shoulder_pan_joint': -0.8,
    'r_shoulder_lift_joint': 0.3,
    'r_upper_arm_roll_joint': 0.0,
    'r_elbow_flex_joint': -0.2
}

Definition at line 48 of file collision_free_arm_cmder.py.