RViz teleop interface to the controller. More...
Public Member Functions | |
| def | __init__ |
| def | closeGripperHandler |
| Close the PR2 gripper for this arm and enable the PPS sensors (assumes this is running on the PR2). | |
| def | closeGripperPR2 |
| def | disablePps |
| Enable the PR2 PPS sensors by removing the topics from the skin client. | |
| def | enablePps |
| Enable the PR2 PPS sensors by adding the topics to the skin client. | |
| def | goal_feedback_rviz_cb |
| def | goalPositionHandler |
| Publishes the current pose of the interactive marker as the goal pose for the MPC. | |
| def | goalPositionOrientationHandler |
| Publishes the current pose of the interactive marker as the goal pose for the MPC. | |
| def | initComms |
| Initialise all publishers/subscribers. | |
| def | initMarkers |
| Initialise the interactive marker based on what robot we're running on, and whether we use orientation or just position. | |
| def | initMenu |
| Initialise the menu used to control the arm behaviour. | |
| def | interactiveMarkerLocationCallback |
| Callback for the interactive marker location. | |
| def | moveGripperPR2 |
| def | openGripperHandler |
| Open the PR2 gripper for this arm and enable the PPS sensors (assumes this is running on the PR2). | |
| def | openGripperPR2 |
| def | planGoalHandler |
| Publishes the current pose of the interactive marker as the goal pose for a planner. | |
| def | start |
| Start the interactive marker server (spin indefinitely). | |
| def | stopArmHandler |
| Publishes an empty trajectory message. | |
| def | zeroSkinHandler |
| Zeroes the PR2 skin (eg, to correct for calibration errors). | |
Public Attributes | |
| add_topic_pub | |
| arm | |
| close_pub | |
| current_goal_pose | |
| disable_pub | |
| enable_pub | |
| goal_pos_pub | |
| goal_traj_pub | |
| gripper_action_client | |
| mpc_weights_pub | |
| open_pub | |
| opt | |
| orient_weight | |
| planner_goal_pub | |
| pos_weight | |
| posture_weight | |
| remove_topic_pub | |
| server | |
| wp_im | |
| wp_menu_handler | |
| zero_cody_fabric_forearm_pub | |
| zero_cody_fabric_wrist_pub | |
| zero_cody_meka_skin_pub | |
| zero_forearm_pub | |
| zero_gripper_left_link_pub | |
| zero_gripper_palm_pub | |
| zero_gripper_pub | |
| zero_gripper_right_link_pub | |
| zero_pps_left_pub | |
| zero_pps_right_pub | |
| zero_upperarm_pub | |
RViz teleop interface to the controller.
Publishes goal poses on the appropriate topics and allows a user to teleop the arm controller.
Definition at line 51 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.__init__ | ( | self, | |
| opt | |||
| ) |
Definition at line 52 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.closeGripperHandler | ( | self, | |
| feedback | |||
| ) |
Close the PR2 gripper for this arm and enable the PPS sensors (assumes this is running on the PR2).
Definition at line 152 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.closeGripperPR2 | ( | self, | |
dist = 0., |
|||
effort = 15 |
|||
| ) |
Definition at line 303 of file mpc_teleop_rviz.py.
Enable the PR2 PPS sensors by removing the topics from the skin client.
Definition at line 142 of file mpc_teleop_rviz.py.
Enable the PR2 PPS sensors by adding the topics to the skin client.
Definition at line 137 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.goal_feedback_rviz_cb | ( | self, | |
| feedback | |||
| ) |
Definition at line 171 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.goalPositionHandler | ( | self, | |
| feedback | |||
| ) |
Publishes the current pose of the interactive marker as the goal pose for the MPC.
Also sets the orientation weight for the controller to 0.0 (ie, position only).
Definition at line 92 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.goalPositionOrientationHandler | ( | self, | |
| feedback | |||
| ) |
Publishes the current pose of the interactive marker as the goal pose for the MPC.
Also enables the orientation weight (ie, position and orientation).
Definition at line 105 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.initComms | ( | self, | |
| node_name | |||
| ) |
Initialise all publishers/subscribers.
Definition at line 193 of file mpc_teleop_rviz.py.
Initialise the interactive marker based on what robot we're running on, and whether we use orientation or just position.
Definition at line 237 of file mpc_teleop_rviz.py.
Initialise the menu used to control the arm behaviour.
Definition at line 308 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.interactiveMarkerLocationCallback | ( | self, | |
| feedback | |||
| ) |
Callback for the interactive marker location.
Receives and stores the updated pose of the marker in space as the user moves it around.
Definition at line 63 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.moveGripperPR2 | ( | self, | |
dist = 0.08, |
|||
effort = 15 |
|||
| ) |
Definition at line 297 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.openGripperHandler | ( | self, | |
| feedback | |||
| ) |
Open the PR2 gripper for this arm and enable the PPS sensors (assumes this is running on the PR2).
Definition at line 147 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.openGripperPR2 | ( | self, | |
dist = 0.08 |
|||
| ) |
Definition at line 300 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.planGoalHandler | ( | self, | |
| feedback | |||
| ) |
Publishes the current pose of the interactive marker as the goal pose for a planner.
The planner should then
Definition at line 119 of file mpc_teleop_rviz.py.
Start the interactive marker server (spin indefinitely).
Definition at line 326 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.stopArmHandler | ( | self, | |
| feedback | |||
| ) |
Publishes an empty trajectory message.
This has the effect of flushing the stored trajectory and goal pose from the waypoint generator, stopping the controller motion.
Definition at line 131 of file mpc_teleop_rviz.py.
| def hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers.zeroSkinHandler | ( | self, | |
| feedback | |||
| ) |
Zeroes the PR2 skin (eg, to correct for calibration errors).
Definition at line 157 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 52 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
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Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 52 of file mpc_teleop_rviz.py.
Definition at line 52 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 52 of file mpc_teleop_rviz.py.
Definition at line 52 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 237 of file mpc_teleop_rviz.py.
Definition at line 308 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.
Definition at line 193 of file mpc_teleop_rviz.py.