Functions | |
| def | getMapClient |
| def | getRobotBasePoseList |
| def | handle_symbol_grounding_grasp_base_pose_experimental |
| def | obstacleCheck |
| def | symbol_grounding_grasp_base_pose_experimental_server |
Definition at line 90 of file symbol_grounding_grasp_base_pose_experimental_server.py.
| def symbol_grounding_grasp_base_pose_experimental_server.getRobotBasePoseList | ( | angle, | |
| dist, | |||
| rbp, | |||
| obj_x, | |||
| obj_y | |||
| ) |
Definition at line 100 of file symbol_grounding_grasp_base_pose_experimental_server.py.
#get the robot's current pose from tf
rb_pose = Pose2D()
listener = tf.TransformListener()
listener.waitForTransform("/map", "/base_link", rospy.Time(0), rospy.Duration(4.0)) #wait for 4secs for the coordinate to be transformed
(trans,rot) = listener.lookupTransform("/map", "/base_link", rospy.Time(0))
rb_pose.x = trans[0]
rb_pose.y = trans[1]
rb_pose_rpy = tf.transformations.euler_from_quaternion(rot)
rb_pose.theta = rb_pose_rpy[2]
rospy.sleep(0.5)
#rospy.loginfo(rb_pose)
Definition at line 225 of file symbol_grounding_grasp_base_pose_experimental_server.py.
| def symbol_grounding_grasp_base_pose_experimental_server.obstacleCheck | ( | gbpl, | |
| po_x, | |||
| po_y, | |||
| po_th, | |||
| po_w, | |||
| po_l, | |||
| fgl, | |||
| to_h | |||
| ) |
Definition at line 127 of file symbol_grounding_grasp_base_pose_experimental_server.py.