Public Member Functions
def	__init__
def	cmd_pose
	I will need a static transform like this in the launch file from the calibration############# Link this omni to pr2 frame def send_transform_to_link_omni_and_pr2_frame(self): self.tfbroadcast.sendTransform(self.center_in_torso_frame, tuple(tf.transformations.quaternion_from_euler(0, 0, 0)), rospy.Time.now(), self.omni_name, "/torso_lift_link")
Public Attributes
	center_in_torso_frame
	current_pose_topic
	desired_pose_topic
	gripper_server
	gripper_tip_frame
	pr2_pub
	prev_dt
	rate
	tfbroadcast
	tflistener
	tip_q
	tip_t
	X_BOUNDS
	zero_out_forces

Detailed Description

Definition at line 28 of file pr2_arm_controller.py.

Constructor & Destructor Documentation

def pr2_playpen.pr2_arm_controller.ControlPR2Arm.__init__	(	self,
		pr2_control_topic,
		desired_pose_topic,
		current_pose_topic,
		gripper_control_topic,
		gripper_tip_frame,
		center_in_torso_frame,
		tfbroadcast,
		tflistener
	)

Definition at line 30 of file pr2_arm_controller.py.

Member Function Documentation

def pr2_playpen.pr2_arm_controller.ControlPR2Arm.cmd_pose	(	self,
		goal_tip_t,
		goal_tip_q
	)

I will need a static transform like this in the launch file from the calibration############# Link this omni to pr2 frame def send_transform_to_link_omni_and_pr2_frame(self): self.tfbroadcast.sendTransform(self.center_in_torso_frame, tuple(tf.transformations.quaternion_from_euler(0, 0, 0)), rospy.Time.now(), self.omni_name, "/torso_lift_link")

Callback for pose of omni

Definition at line 81 of file pr2_arm_controller.py.