pr2_keyboard_teleoperator Namespace Reference

Functions
def	getKey
def	handleArms
def	handleHead
def	handleTorso
def	initialize
Variables
string	arm = 'r'
tuple	close_cmd = Pr2GripperCommand()
float	delta = 0.1
int	head_pan = 0
tuple	head_pub = rospy.Publisher('head_traj_controller/command', JointTrajectory, latch=True)
int	head_tilt = 0
dictionary	headGripperBindings
dictionary	jointBindings
tuple	key = getKey()
int	l_gripper = 0
int	l_joint_1 = 0
int	l_joint_2 = 0
int	l_joint_3 = 0
int	l_joint_4 = 0
int	l_joint_5 = 0
int	l_joint_6 = 0
int	l_joint_7 = 0
tuple	lhand_pub = rospy.Publisher('l_gripper_controller/command', Pr2GripperCommand)
dictionary	moveBindings
tuple	open_cmd = Pr2GripperCommand()
dictionary	paramterBindings
list	positions = [[0.0,float(l_joint_1),float(l_joint_2),float(l_joint_3),float(l_joint_4),float(l_joint_5),float(l_joint_6),float(l_joint_7)]]
tuple	pub_base = rospy.Publisher('/base_controller/command', Twist)
tuple	pub_left = rospy.Publisher('l_arm_controller/command', JointTrajectory, latch=True)
tuple	pub_right = rospy.Publisher('r_arm_controller/command', JointTrajectory, latch=True)
int	r_gripper = 0
int	r_joint_1 = 0
int	r_joint_2 = 0
int	r_joint_3 = 0
int	r_joint_4 = 0
int	r_joint_5 = 0
int	r_joint_6 = 0
int	r_joint_7 = 0
tuple	rhand_pub = rospy.Publisher('r_gripper_controller/command', Pr2GripperCommand)
tuple	settings = termios.tcgetattr(sys.stdin)
int	speed = 5
int	th = 0
int	torso = 0
tuple	torso_pub = rospy.Publisher('torso_controller/command', JointTrajectory)
int	turn = 1
tuple	twist = Twist()
string	usage
int	x = 0
list	y = jointBindings[key]
list	z = headGripperBindings[key]

Function Documentation

def pr2_keyboard_teleoperator::getKey ( )

Definition at line 175 of file pr2_keyboard_teleoperator.py.

def pr2_keyboard_teleoperator::handleArms	(	side,
		positions
	)

Definition at line 124 of file pr2_keyboard_teleoperator.py.

def pr2_keyboard_teleoperator::handleHead	(	x,
		y
	)

Definition at line 161 of file pr2_keyboard_teleoperator.py.

def pr2_keyboard_teleoperator::handleTorso ( x )

Definition at line 147 of file pr2_keyboard_teleoperator.py.

def pr2_keyboard_teleoperator::initialize ( )

Definition at line 182 of file pr2_keyboard_teleoperator.py.

Variable Documentation

string pr2_keyboard_teleoperator::arm = 'r'

Definition at line 204 of file pr2_keyboard_teleoperator.py.

tuple pr2_keyboard_teleoperator::close_cmd = Pr2GripperCommand()

Definition at line 73 of file pr2_keyboard_teleoperator.py.

float pr2_keyboard_teleoperator::delta = 0.1

Definition at line 203 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::head_pan = 0

Definition at line 226 of file pr2_keyboard_teleoperator.py.

tuple pr2_keyboard_teleoperator::head_pub = rospy.Publisher('head_traj_controller/command', JointTrajectory, latch=True)

Definition at line 64 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::head_tilt = 0

Definition at line 227 of file pr2_keyboard_teleoperator.py.

dictionary pr2_keyboard_teleoperator::headGripperBindings

Initial value:

{
                'c':(1,0),
                'v':(2,0),
                'b':(3,0),
                'n':(4,0),
                'm':(5,0),
                ',':(6,0),
                '.':(7,0),
              }

Definition at line 114 of file pr2_keyboard_teleoperator.py.

dictionary pr2_keyboard_teleoperator::jointBindings

Initial value:

{
                'e':(1,0),
                'd':(2,0),
                'r':(3,0),
                'f':(4,0),
                't':(5,0),
                'g':(6,0),
                'y':(7,0),
                'h':(8,0),
                'u':(9,0),
                'j':(10,0),
                'i':(11,0),
                'k':(12,0),
                'o':(13,0),
                'l':(14,0),
               }

Definition at line 78 of file pr2_keyboard_teleoperator.py.

tuple pr2_keyboard_teleoperator::key = getKey()

Definition at line 235 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::l_gripper = 0

Definition at line 224 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::l_joint_1 = 0

Definition at line 208 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::l_joint_2 = 0

Definition at line 209 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::l_joint_3 = 0

Definition at line 210 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::l_joint_4 = 0

Definition at line 211 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::l_joint_5 = 0

Definition at line 212 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::l_joint_6 = 0

Definition at line 213 of file pr2_keyboard_teleoperator.py.

int pr2_keyboard_teleoperator::l_joint_7 = 0

Definition at line 214 of file pr2_keyboard_teleoperator.py.

tuple pr2_keyboard_teleoperator::lhand_pub = rospy.Publisher('l_gripper_controller/command', Pr2GripperCommand)

Definition at line 63 of file pr2_keyboard_teleoperator.py.

dictionary pr2_keyboard_teleoperator::moveBindings

Initial value:

{
                '8':(1,0),
                '9':(1,-1),
                '4':(0,1),
                '6':(0,-1),
                '7':(1,1),
                '2':(-1,0),
                '3':(-1,1),
                '1':(-1,-1),
               }

Definition at line 95 of file pr2_keyboard_teleoperator.py.

tuple pr2_keyboard_teleoperator::open_cmd = Pr2GripperCommand()

Definition at line 68 of file pr2_keyboard_teleoperator.py.

dictionary pr2_keyboard_teleoperator::paramterBindings

Initial value:

{
                'z':(1,0),
                'x':(2,0),
                'q':(3,0),
                'a':(4,0),
                'p':(5,0),
              }

Definition at line 106 of file pr2_keyboard_teleoperator.py.