symbol_grounding_grasp_base_region_server Namespace Reference

Functions
def	getMapClient
def	getRobotBasePoseList
def	handle_symbol_grounding_grasp_base_region
def	obstacleCheck
def	symbol_grounding_grasp_base_region_server

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Function Documentation

def symbol_grounding_grasp_base_region_server.getMapClient

(

)

Definition at line 90 of file symbol_grounding_grasp_base_region_server.py.

def symbol_grounding_grasp_base_region_server.getRobotBasePoseList	(		angle,
			dist,
			rbp,
			obj_x,
			obj_y
	)

Definition at line 100 of file symbol_grounding_grasp_base_region_server.py.

def symbol_grounding_grasp_base_region_server.handle_symbol_grounding_grasp_base_region

(

req

)

#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 220 of file symbol_grounding_grasp_base_region_server.py.

def symbol_grounding_grasp_base_region_server.obstacleCheck	(		gbpl,
			po_x,
			po_y,
			po_th,
			po_w,
			po_l,
			fgl
	)

Definition at line 128 of file symbol_grounding_grasp_base_region_server.py.

def symbol_grounding_grasp_base_region_server.symbol_grounding_grasp_base_region_server

(

)

Definition at line 433 of file symbol_grounding_grasp_base_region_server.py.