class to start/stop/switch between joint and Cartesian controllers More...
Public Member Functions | |
| def | __init__ |
| def | cartesian_command_thread_func |
| thread function for sending clipped Cartesian commands | |
| def | check_cartesian_done |
| check if the Cartesian controller thinks it's gotten to its goal (it's pretty loose about goals) | |
| def | check_cartesian_near_pose |
| check if we're near to a desired Cartesian pose (either PoseStamped or 7-list of position and quaternion in 'base_link' frame) by pos_thres(m) and rot_thres (rad) | |
| def | check_cartesian_really_done |
| check if both the Cartesian controllers think we're done and if we're close to where we want to be | |
| def | check_controller_states |
| figure out which controllers are loaded/started (fills in self.joint_controller_state, self.cartesian_controllers_state, and self.gripper_controller_state with 'not loaded', 'stopped', or 'running' | |
| def | check_controllers_ok |
| make sure the appropriate controllers (joint or Cartesian) are running/stopped mode is 'joint' or 'cartesian' | |
| def | check_joint_trajectory_done |
| check the state of the joint trajectory action (returns 1 if done, 0 otherwise) | |
| def | clip_pose |
| clip pose to be no more than max_pos_dist or max_rot_dist away from the current gripper pose | |
| def | command_cartesian |
| send a single desired pose to the Cartesian controller (pose is either a PoseStamped or a 7-list of position and quaternion orientation; if the latter, put the frame in frame_id) | |
| def | command_gripper |
| send a command to the gripper action | |
| def | command_interpolated_ik |
| find and execute a joint-angle trajectory to perform a collision-free Cartesian movement if start_pose is None, starts from the current pose (if not None, will go straight to the start pose using the joint trajectory action) | |
| def | command_joint |
| send a single joint configuration to the joint trajectory action (takes in a 7-list of angles, nonblocking) | |
| def | command_joint_trajectory |
| send an entire joint trajectory to the joint trajectory action | |
| def | create_move_arm_goal |
| create a basic goal message for move_arm | |
| def | dist_from_current_pos_and_rot |
| return the distance and angle from the current Cartesian pose to a goal pose | |
| def | find_gripper_contact |
| tell the gripper to close until contact (on one or both finger pads) contacts_desired is "both", "left", "right", or "either" | |
| def | freeze_arm |
| tell the joint trajectory action to stop the arm where it is now | |
| def | get_current_arm_angles |
| use the joint_states_listener to get the arm angles | |
| def | get_current_gripper_opening |
| use the joint_states_listener to get the current gripper opening | |
| def | get_current_wrist_pose_stamped |
| return the current pose of the wrist as a PoseStamped | |
| def | get_find_gripper_contact_result |
| get the final result from find_gripper_contact | |
| def | get_find_gripper_contact_state |
| get the state from find_gripper_contact | |
| def | get_gripper_event_detector_state |
| get the state from the gripper event detector | |
| def | load_cartesian_controllers |
| load the Cartesian controllers with the current set of params on the param server | |
| def | load_joint_controllers |
| load the joint controller with the current set of params on the param server | |
| def | modify_move_arm_goal |
| if move_arm_joint returns an error code of START_STATE_IN_COLLISION, we can try to add allowed contact regions to get it out of the start collisions (appears to already be done in C++) | |
| def | move_arm_constrained |
| move the wrist to the desired location while keeping the current wrist orientation upright start angles are the joint angle start point for IK searches default start angles and location are for moving the arm to the side returns 0 if timed out or no IK solution; otherwise an ArmNavigationErrorCodes (int32, 1=success) from move_arm | |
| def | move_arm_joint |
| use move_arm to get to a desired joint configuration in a collision-free way returns 0 if timed out; otherwise an ArmNavigationErrorCodes (int32, 1=success) from move_arm | |
| def | move_arm_pose |
| use move_arm to get to a desired pose in a collision-free way (really, run IK and then call move arm to move to the IK joint angles) returns 0 if timed out or no IK solution; otherwise an ArmNavigationErrorCodes (int32, 1=success) from move_arm | |
| def | move_cartesian |
| move in Cartesian space using the Cartesian controllers !!! if using non-blocking mode, and not separately using wait_cartesian_really_done or check_cartesian_really_done, you must call stop_cartesian_commands yourself when the move is finished or it will keep sending Cartesian commands !!! if collision_aware, checks whether the path could be collision-free, but uses the Cartesian controllers to execute it if blocking, waits for completion, otherwise returns after sending the goal step_size only used if collision aware (size of steps to check for collisions) pos_thres and rot_thres are thresholds within which the goal is declared reached times out and quits after timeout, and waits settling_time after the controllers declare that they're done (which for the trajectory controller, is usually way too early) if using the non-trajectory controller, overshoot_dist is how far to overshoot the goal to make sure we get there (it will stop when we actually get there) and overshoot_angle is how far to overshoot the goal angle | |
| def | move_cartesian_ik |
| move in Cartesian space using IK Cartesian interpolation if collision_aware, quits if the path is not collision-free if blocking, waits for completion, otherwise returns after sending the goal step_size is the step size for interpolation pos_thres and rot_thres are thresholds within which the goal is declared reached times out and quits after timeout, and waits settling_time after the controllers declare that they're done | |
| def | normalize_angle |
| normalize an angle for a continuous joint so that it's the closest version of the angle to the current angle (not +-2*pi) | |
| def | normalize_trajectory |
| normalize a trajectory (list of lists of joint angles), so that the desired angles are the nearest ones for the continuous joints (5 and 7) | |
| def | overshoot_pose |
| overshoot pose by overshoot_dist and overshoot_angle, unless we're already within dist_tol/angle_tol | |
| def | pplist |
| pretty-print list to string | |
| def | ppmat |
| pretty-print numpy matrix to string | |
| def | print_cartesian_pose |
| print the current Cartesian pose of the gripper | |
| def | reload_cartesian_controllers |
| re-load the Cartesian controllers with new parameters (change cart_params before running) | |
| def | reload_joint_controllers |
| re-load the joint controller with gains a fraction of the defaults | |
| def | reset_collision_map |
| reset the collision map (and optionally all attached/collision objects) | |
| def | return_cartesian_pose |
| return the current Cartesian pose of the gripper | |
| def | send_move_arm_goal |
| send a goal to move arm and wait for the result, modifying the goal if the start state is in collision returns 0 if timed out; otherwise an ArmNavigationErrorCodes value (int32, 1=success) from move_arm | |
| def | set_desired_cartesian_to_current |
| set the current desired Cartesian pose to the current gripper pose | |
| def | set_planning_scene |
| set the planning scene (for IK/move_arm calls) | |
| def | start_cartesian_commands |
| start sending commands from the Cartesian command thread | |
| def | start_cartesian_controllers |
| start the Cartesian controllers (need to be loaded already) | |
| def | start_gripper_controller |
| start the gripper controller (needs to be loaded already) | |
| def | start_gripper_event_detector |
| start up gripper event detector to detect when an object hits the table or when someone is trying to take an object from the robot | |
| def | start_gripper_grab |
| opens and closes the gripper to determine how hard to grasp the object, then starts up slip servo mode | |
| def | start_joint_controllers |
| just start the joint controllers (need to be loaded already) | |
| def | stop_all_controllers |
| stop all controllers | |
| def | stop_cartesian_commands |
| stop sending commands from the Cartesian command thread | |
| def | stop_controllers |
| stop controllers that are currently running | |
| def | switch_to_cartesian_mode |
| stops the joint controllers, starts the Cartesian ones (both need to be loaded already) | |
| def | switch_to_joint_mode |
| stops the Cartesian controllers, starts the joint ones (both need to be loaded already) | |
| def | unload_cartesian_controllers |
| unload the Cartesian controllers (to re-load with new params) | |
| def | unload_joint_controllers |
| unload the joint controller | |
| def | wait_cartesian_really_done |
| wait for either the Cartesian pose to get near enough to a goal pose or timeout (a ROS duration) is reached or settling_time (a ROS duration) after the Cartesian controllers report that they're done | |
| def | wait_for_action_server |
| wait for an action server to be ready | |
| def | wait_for_service |
| wait for a service to be ready | |
| def | wait_joint_trajectory_done |
| wait for the joint trajectory action to finish (returns 1 if succeeded, 0 otherwise) timeout is a ROS duration; default (0) is infinite timeout returns 0 if timed out, 1 if succeeded | |
Public Attributes | |
| angle_tol | |
| cart_params | |
| cartesian_cmd_pub | |
| cartesian_cmd_service | |
| cartesian_command_lock | |
| cartesian_command_thread | |
| cartesian_command_thread_running | |
| cartesian_controllers | |
| cartesian_controllers_state | |
| cartesian_desired_pose | |
| cartesian_moving_service | |
| cartesian_preempt_service | |
| collision_map_interface | |
| dist_tol | |
| gripper_action_client | |
| gripper_controller | |
| gripper_controller_state | |
| gripper_event_detector_action_client | |
| gripper_find_contact_action_client | |
| gripper_grab_action_client | |
| ik_utilities | |
| joint_action_client | |
| joint_controller | |
| joint_controller_state | |
| joint_names | |
| joint_params | |
| joint_states_listener | |
| list_controllers_service | |
| load_controller_service | |
| move_arm_client | |
| overshoot_angle | |
| overshoot_dist | |
| switch_controller_service | |
| tf_listener | |
| timestep | |
| unload_controller_service | |
| use_task_cartesian | |
| use_trajectory_cartesian | |
| using_slip_controller | |
| using_slip_detection | |
| whicharm | |
class to start/stop/switch between joint and Cartesian controllers
Definition at line 76 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.__init__ | ( | self, | |
| whicharm, | |||
tf_listener = None, |
|||
using_slip_controller = 0, |
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using_slip_detection = 0 |
|||
| ) |
Definition at line 79 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.cartesian_command_thread_func | ( | self | ) |
thread function for sending clipped Cartesian commands
Definition at line 754 of file controller_manager.py.
check if the Cartesian controller thinks it's gotten to its goal (it's pretty loose about goals)
Definition at line 834 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.check_cartesian_near_pose | ( | self, | |
| goal_pose, | |||
| pos_thres, | |||
| rot_thres | |||
| ) |
check if we're near to a desired Cartesian pose (either PoseStamped or 7-list of position and quaternion in 'base_link' frame) by pos_thres(m) and rot_thres (rad)
Definition at line 844 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.check_cartesian_really_done | ( | self, | |
| goal_pose, | |||
| pos_thres, | |||
| rot_thres, | |||
current_pos = None, |
|||
current_rot = None |
|||
| ) |
check if both the Cartesian controllers think we're done and if we're close to where we want to be
Definition at line 877 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.check_controller_states | ( | self | ) |
figure out which controllers are loaded/started (fills in self.joint_controller_state, self.cartesian_controllers_state, and self.gripper_controller_state with 'not loaded', 'stopped', or 'running'
Definition at line 1169 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.check_controllers_ok | ( | self, | |
| mode | |||
| ) |
make sure the appropriate controllers (joint or Cartesian) are running/stopped mode is 'joint' or 'cartesian'
Definition at line 1029 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.check_joint_trajectory_done | ( | self | ) |
check the state of the joint trajectory action (returns 1 if done, 0 otherwise)
Definition at line 1123 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.clip_pose | ( | self, | |
| pose, | |||
max_pos_dist = 0.02, |
|||
max_rot_dist = math.pi/20., |
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current_pose = None |
|||
| ) |
clip pose to be no more than max_pos_dist or max_rot_dist away from the current gripper pose
Definition at line 692 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.command_cartesian | ( | self, | |
| pose, | |||
frame_id = '/base_link' |
|||
| ) |
send a single desired pose to the Cartesian controller (pose is either a PoseStamped or a 7-list of position and quaternion orientation; if the latter, put the frame in frame_id)
Definition at line 807 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.command_gripper | ( | self, | |
| position, | |||
| max_effort, | |||
blocking = 0 |
|||
| ) |
send a command to the gripper action
Definition at line 1148 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.command_interpolated_ik | ( | self, | |
| end_pose, | |||
start_pose = None, |
|||
collision_aware = 1, |
|||
step_size = .02, |
|||
max_joint_vel = .05 |
|||
| ) |
find and execute a joint-angle trajectory to perform a collision-free Cartesian movement if start_pose is None, starts from the current pose (if not None, will go straight to the start pose using the joint trajectory action)
Definition at line 630 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.command_joint | ( | self, | |
| jointangles | |||
| ) |
send a single joint configuration to the joint trajectory action (takes in a 7-list of angles, nonblocking)
Definition at line 1058 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.command_joint_trajectory | ( | self, | |
| trajectory, | |||
max_joint_vel = 0.2, |
|||
current_angles = None, |
|||
blocking = 0, |
|||
times_and_vels = None |
|||
| ) |
send an entire joint trajectory to the joint trajectory action
Definition at line 1073 of file controller_manager.py.
create a basic goal message for move_arm
Definition at line 370 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.dist_from_current_pos_and_rot | ( | self, | |
| goal_pos, | |||
| goal_rot, | |||
current_pos = None, |
|||
current_rot = None |
|||
| ) |
return the distance and angle from the current Cartesian pose to a goal pose
Definition at line 858 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.find_gripper_contact | ( | self, | |
| contacts_desired, | |||
zero_fingertips = 0, |
|||
blocking = 1, |
|||
timeout = 12. |
|||
| ) |
tell the gripper to close until contact (on one or both finger pads) contacts_desired is "both", "left", "right", or "either"
Definition at line 274 of file controller_manager.py.
tell the joint trajectory action to stop the arm where it is now
Definition at line 1142 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.get_current_arm_angles | ( | self | ) |
use the joint_states_listener to get the arm angles
Definition at line 672 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.get_current_gripper_opening | ( | self | ) |
use the joint_states_listener to get the current gripper opening
Definition at line 685 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.get_current_wrist_pose_stamped | ( | self, | |
frame = 'base_link' |
|||
| ) |
return the current pose of the wrist as a PoseStamped
Definition at line 679 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.get_find_gripper_contact_result | ( | self | ) |
get the final result from find_gripper_contact
Definition at line 306 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.get_find_gripper_contact_state | ( | self | ) |
get the state from find_gripper_contact
Definition at line 301 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.get_gripper_event_detector_state | ( | self | ) |
get the state from the gripper event detector
Definition at line 365 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.load_cartesian_controllers | ( | self | ) |
load the Cartesian controllers with the current set of params on the param server
Definition at line 1191 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.load_joint_controllers | ( | self | ) |
load the joint controller with the current set of params on the param server
Definition at line 1234 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.modify_move_arm_goal | ( | self, | |
| goal, | |||
| contact_info | |||
| ) |
if move_arm_joint returns an error code of START_STATE_IN_COLLISION, we can try to add allowed contact regions to get it out of the start collisions (appears to already be done in C++)
Definition at line 478 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.move_arm_constrained | ( | self, | |
constraint_in = None, |
|||
start_angles = None, |
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location = None, |
|||
blocking = 1, |
|||
compute_feasible_goal = True, |
|||
frame_id = 'torso_lift_link' |
|||
| ) |
move the wrist to the desired location while keeping the current wrist orientation upright start angles are the joint angle start point for IK searches default start angles and location are for moving the arm to the side returns 0 if timed out or no IK solution; otherwise an ArmNavigationErrorCodes (int32, 1=success) from move_arm
Definition at line 504 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.move_arm_joint | ( | self, | |
| joint_angles, | |||
blocking = 1 |
|||
| ) |
use move_arm to get to a desired joint configuration in a collision-free way returns 0 if timed out; otherwise an ArmNavigationErrorCodes (int32, 1=success) from move_arm
Definition at line 453 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.move_arm_pose | ( | self, | |
| pose_stamped, | |||
start_angles = None, |
|||
blocking = 1 |
|||
| ) |
use move_arm to get to a desired pose in a collision-free way (really, run IK and then call move arm to move to the IK joint angles) returns 0 if timed out or no IK solution; otherwise an ArmNavigationErrorCodes (int32, 1=success) from move_arm
Definition at line 590 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.move_cartesian | ( | self, | |
| goal_pose, | |||
collision_aware = 0, |
|||
blocking = 1, |
|||
step_size = .005, |
|||
pos_thres = .001, |
|||
rot_thres = .05, |
|||
timeout = rospy.Duration(30.), |
|||
settling_time = rospy.Duration(1.), |
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overshoot_dist = 0.005, |
|||
overshoot_angle = 0.05, |
|||
stuck_dist = .005, |
|||
stuck_angle = .001 |
|||
| ) |
move in Cartesian space using the Cartesian controllers !!! if using non-blocking mode, and not separately using wait_cartesian_really_done or check_cartesian_really_done, you must call stop_cartesian_commands yourself when the move is finished or it will keep sending Cartesian commands !!! if collision_aware, checks whether the path could be collision-free, but uses the Cartesian controllers to execute it if blocking, waits for completion, otherwise returns after sending the goal step_size only used if collision aware (size of steps to check for collisions) pos_thres and rot_thres are thresholds within which the goal is declared reached times out and quits after timeout, and waits settling_time after the controllers declare that they're done (which for the trajectory controller, is usually way too early) if using the non-trajectory controller, overshoot_dist is how far to overshoot the goal to make sure we get there (it will stop when we actually get there) and overshoot_angle is how far to overshoot the goal angle
Definition at line 965 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.move_cartesian_ik | ( | self, | |
| goal_pose, | |||
collision_aware = 0, |
|||
blocking = 1, |
|||
step_size = .005, |
|||
pos_thres = .02, |
|||
rot_thres = .1, |
|||
timeout = rospy.Duration(30.), |
|||
settling_time = rospy.Duration(0.25), |
|||
vel = .15 |
|||
| ) |
move in Cartesian space using IK Cartesian interpolation if collision_aware, quits if the path is not collision-free if blocking, waits for completion, otherwise returns after sending the goal step_size is the step size for interpolation pos_thres and rot_thres are thresholds within which the goal is declared reached times out and quits after timeout, and waits settling_time after the controllers declare that they're done
Definition at line 1004 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.normalize_angle | ( | self, | |
| angle, | |||
| current_angle | |||
| ) |
normalize an angle for a continuous joint so that it's the closest version of the angle to the current angle (not +-2*pi)
Definition at line 620 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.normalize_trajectory | ( | self, | |
| trajectory | |||
| ) |
normalize a trajectory (list of lists of joint angles), so that the desired angles are the nearest ones for the continuous joints (5 and 7)
Definition at line 609 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.overshoot_pose | ( | self, | |
| desired_pose, | |||
| overshoot_dist, | |||
| overshoot_angle, | |||
| dist_tol, | |||
| angle_tol, | |||
current_pose = None |
|||
| ) |
overshoot pose by overshoot_dist and overshoot_angle, unless we're already within dist_tol/angle_tol
Definition at line 723 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.pplist | ( | self, | |
| list | |||
| ) |
pretty-print list to string
Definition at line 1458 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.ppmat | ( | self, | |
| mat | |||
| ) |
pretty-print numpy matrix to string
Definition at line 1463 of file controller_manager.py.
print the current Cartesian pose of the gripper
Definition at line 1451 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.reload_cartesian_controllers | ( | self, | |
set_params = 1 |
|||
| ) |
re-load the Cartesian controllers with new parameters (change cart_params before running)
Definition at line 1379 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.reload_joint_controllers | ( | self, | |
fraction = 1. |
|||
| ) |
re-load the joint controller with gains a fraction of the defaults
Definition at line 1406 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.reset_collision_map | ( | self, | |
| clear_objects, | |||
| repopulate | |||
| ) |
reset the collision map (and optionally all attached/collision objects)
Definition at line 437 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.return_cartesian_pose | ( | self, | |
frame = 'base_link' |
|||
| ) |
return the current Cartesian pose of the gripper
Definition at line 1432 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.send_move_arm_goal | ( | self, | |
| goal, | |||
blocking = 1 |
|||
| ) |
send a goal to move arm and wait for the result, modifying the goal if the start state is in collision returns 0 if timed out; otherwise an ArmNavigationErrorCodes value (int32, 1=success) from move_arm
Definition at line 385 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.set_desired_cartesian_to_current | ( | self | ) |
set the current desired Cartesian pose to the current gripper pose
Definition at line 797 of file controller_manager.py.
set the planning scene (for IK/move_arm calls)
Definition at line 447 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.start_cartesian_commands | ( | self | ) |
start sending commands from the Cartesian command thread
Definition at line 790 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.start_cartesian_controllers | ( | self | ) |
start the Cartesian controllers (need to be loaded already)
Definition at line 1313 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.start_gripper_controller | ( | self | ) |
start the gripper controller (needs to be loaded already)
Definition at line 1329 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.start_gripper_event_detector | ( | self, | |
blocking = 0, |
|||
timeout = 15. |
|||
| ) |
start up gripper event detector to detect when an object hits the table or when someone is trying to take an object from the robot
Definition at line 340 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.start_gripper_grab | ( | self, | |
hardness_gain = 0.035, |
|||
timeout = 10., |
|||
blocking = 1 |
|||
| ) |
opens and closes the gripper to determine how hard to grasp the object, then starts up slip servo mode
Definition at line 317 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.start_joint_controllers | ( | self | ) |
just start the joint controllers (need to be loaded already)
Definition at line 1297 of file controller_manager.py.
stop all controllers
Definition at line 1343 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.stop_cartesian_commands | ( | self | ) |
stop sending commands from the Cartesian command thread
Definition at line 783 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.stop_controllers | ( | self, | |
stop_joint = 0, |
|||
stop_cartesian = 0, |
|||
stop_gripper = 0 |
|||
| ) |
stop controllers that are currently running
Definition at line 1348 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.switch_to_cartesian_mode | ( | self | ) |
stops the joint controllers, starts the Cartesian ones (both need to be loaded already)
Definition at line 1263 of file controller_manager.py.
stops the Cartesian controllers, starts the joint ones (both need to be loaded already)
Definition at line 1280 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.unload_cartesian_controllers | ( | self | ) |
unload the Cartesian controllers (to re-load with new params)
Definition at line 1207 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.unload_joint_controllers | ( | self | ) |
unload the joint controller
Definition at line 1248 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.wait_cartesian_really_done | ( | self, | |
| goal_pose, | |||
pos_thres = .02, |
|||
rot_thres = .1, |
|||
timeout = rospy.Duration(30.), |
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settling_time = rospy.Duration(3.0), |
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overshoot_dist = 0., |
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overshoot_angle = 0., |
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stuck_dist = .03, |
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stuck_angle = .12 |
|||
| ) |
wait for either the Cartesian pose to get near enough to a goal pose or timeout (a ROS duration) is reached or settling_time (a ROS duration) after the Cartesian controllers report that they're done
Definition at line 890 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.wait_for_action_server | ( | self, | |
| client, | |||
| name | |||
| ) |
wait for an action server to be ready
Definition at line 252 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.wait_for_service | ( | self, | |
| name | |||
| ) |
wait for a service to be ready
Definition at line 261 of file controller_manager.py.
| def pr2_gripper_reactive_approach.controller_manager.ControllerManager.wait_joint_trajectory_done | ( | self, | |
timeout = rospy.Duration(0) |
|||
| ) |
wait for the joint trajectory action to finish (returns 1 if succeeded, 0 otherwise) timeout is a ROS duration; default (0) is infinite timeout returns 0 if timed out, 1 if succeeded
Definition at line 1131 of file controller_manager.py.
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Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
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Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 1148 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 1029 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.
Definition at line 79 of file controller_manager.py.