driver Namespace Reference

Classes
class	CommanderTCPHandler
class	EOF
class	TCPServer
class	UR5Connection
class	UR5TrajectoryFollower
Functions
def	dumpstacks
def	get_segment_duration
def	getConnectedRobot
def	interp_cubic
def	joinAll
def	log
def	main
def	reorder_traj_joints
def	sample_traj
def	setConnectedRobot
Variables
	connected_robot = None
tuple	connected_robot_cond = threading.Condition(connected_robot_lock)
tuple	connected_robot_lock = threading.Lock()
list	JOINT_NAMES
int	MSG_JOINT_STATES = 3
int	MSG_MOVEJ = 4
int	MSG_OUT = 1
int	MSG_QUIT = 2
int	MSG_SERVOJ = 7
int	MSG_STOPJ = 6
int	MSG_WAYPOINT_FINISHED = 5
float	MULT_blend = 1000.0
float	MULT_jointstate = 1000.0
float	MULT_time = 1000000.0
int	PORT = 30002
	prevent_programming = False
tuple	pub_joint_states = rospy.Publisher('joint_states', JointState)
list	Q1 = [2.2,0,-1.57,0,0,0]
list	Q2 = [1.5,0,-1.57,0,0,0]
list	Q3 = [1.5,-0.2,-1.57,0,0,0]
int	REVERSE_PORT = 50001

---

Function Documentation

def driver::dumpstacks

(

)

Definition at line 52 of file driver.py.

def driver::get_segment_duration	(		traj,
			index
	)

Definition at line 326 of file driver.py.

def driver::getConnectedRobot	(		wait = False,
			timeout = -1
	)

Definition at line 190 of file driver.py.

def driver::interp_cubic	(		p0,
			p1,
			t_abs
	)

Definition at line 346 of file driver.py.

def driver::joinAll

(

threads

)

Definition at line 319 of file driver.py.

def driver::log

(

s

)

Definition at line 63 of file driver.py.

def driver::main

(

)

Definition at line 506 of file driver.py.

def driver::reorder_traj_joints	(		traj,
			joint_names
	)

Definition at line 333 of file driver.py.

def driver::sample_traj	(		traj,
			t
	)

Definition at line 365 of file driver.py.

def driver::setConnectedRobot

(

r

)

Definition at line 184 of file driver.py.

---

Variable Documentation

driver::connected_robot = None

Definition at line 44 of file driver.py.

tuple driver::connected_robot_cond = threading.Condition(connected_robot_lock)

Definition at line 46 of file driver.py.

tuple driver::connected_robot_lock = threading.Lock()

Definition at line 45 of file driver.py.

list driver::JOINT_NAMES

Initial value:

['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
               'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']

Definition at line 36 of file driver.py.

int driver::MSG_JOINT_STATES = 3

Definition at line 27 of file driver.py.

int driver::MSG_MOVEJ = 4

Definition at line 28 of file driver.py.

int driver::MSG_OUT = 1

Definition at line 25 of file driver.py.

int driver::MSG_QUIT = 2

Definition at line 26 of file driver.py.

int driver::MSG_SERVOJ = 7

Definition at line 31 of file driver.py.

int driver::MSG_STOPJ = 6

Definition at line 30 of file driver.py.

int driver::MSG_WAYPOINT_FINISHED = 5

Definition at line 29 of file driver.py.

float driver::MULT_blend = 1000.0

Definition at line 34 of file driver.py.

float driver::MULT_jointstate = 1000.0

Definition at line 32 of file driver.py.

float driver::MULT_time = 1000000.0

Definition at line 33 of file driver.py.

int driver::PORT = 30002

Definition at line 22 of file driver.py.

driver::prevent_programming = False

Definition at line 20 of file driver.py.

tuple driver::pub_joint_states = rospy.Publisher('joint_states', JointState)

Definition at line 47 of file driver.py.

list driver::Q1 = [2.2,0,-1.57,0,0,0]

Definition at line 39 of file driver.py.

list driver::Q2 = [1.5,0,-1.57,0,0,0]

Definition at line 40 of file driver.py.

list driver::Q3 = [1.5,-0.2,-1.57,0,0,0]

Definition at line 41 of file driver.py.

int driver::REVERSE_PORT = 50001

Definition at line 23 of file driver.py.