Public Member Functions | Public Attributes
shadowhand_ros.ShadowHand_ROS Class Reference

List of all members.

Public Member Functions

def __init__
def activate_etherCAT_hand
def callback
def callback_arm
def callback_ethercat_states
def callVisualisationService
def check_CAN_hand_presence
def check_etherCAT_hand_presence
def check_gazebo_hand_presence
def check_hand_type
def create_grasp_interpoler
def has_arm
def init_actual_joints
def read_all_current_arm_positions
def read_all_current_arm_targets
def read_all_current_positions
def read_all_current_targets
def record_step_to_file
def resend_targets
def save_hand_position_to_file
def sendupdate
def sendupdate_arm
def sendupdate_arm_from_dict
def sendupdate_from_dict
def set_sendupdate_topic
def set_shadowhand_data_topic
def valueof

Public Attributes

 allJoints
 armJoints
 cyberglove_pub
 cyberglove_sub
 cybergrasp_pub
 dict_arm_pos
 dict_arm_tar
 dict_ethercat_joints
 dict_pos
 dict_tar
 eth_publishers
 eth_subscribers
 grasp_interpoler
 grasp_parser
 EtherCAT hand.
 hand_type
 handJoints
 hasarm
 isFirstMessage
 isFirstMessageArm
 isReady
 lastArmMsg
 lastMsg
 liste
 pub
 pub_arm
 rootPath
 sendupdate_lock
 sub
 sub_arm
 topic_ending

Detailed Description

This is a python library used to easily access the shadow hand ROS interface.

Definition at line 40 of file shadowhand_ros.py.


Constructor & Destructor Documentation

Builds the library, creates the communication node in ROS and
initializes the hand publisher and subscriber to the default
values of shadowhand_data and sendupdate

Definition at line 44 of file shadowhand_ros.py.


Member Function Documentation

At the moment we just try to use the mixed position velocity controllers

Definition at line 446 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.callback (   self,
  data 
)
@param data: The ROS message received which called the callback
If the message is the first received, initializes the dictionnaries
Else, it updates the lastMsg

Definition at line 161 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.callback_arm (   self,
  data 
)
@param data: The ROS message received which called the callback
If the message is the first received, initializes the dictionnaries
Else, it updates the lastMsg

Definition at line 176 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.callback_ethercat_states (   self,
  data,
  jointName 
)
@param data: The ROS message received which called the callback
If the message is the first received, initializes the dictionnaries
Else, it updates the lastMsg
@param joint: a Joint object that contains the name of the joint that we receive data from

Definition at line 129 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.callVisualisationService (   self,
  callList = 0,
  reset = 0 
)
@param callList: dictionnary mapping joint names to information that should be displayed
@param reset: flag used to tell if the parameters should be replaced by the new ones or just added to the previous ones
Calls a ROS service to display various information in Rviz

Definition at line 405 of file shadowhand_ros.py.

@return : true if the CAN hand is detected

Definition at line 209 of file shadowhand_ros.py.

Only used to check if a real etherCAT hand is detected in the system
check if something is being published to this topic, otherwise
return false

Definition at line 417 of file shadowhand_ros.py.

Only used to check if a Gazebo simulated (etherCAT protocol) hand is detected in the system
check if something is being published to this topic, otherwise
return false

Definition at line 432 of file shadowhand_ros.py.

@return : true if some hand is detected

Definition at line 197 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.create_grasp_interpoler (   self,
  current_step,
  next_step 
)

Definition at line 126 of file shadowhand_ros.py.

@return : True if an arm is detected on the roscore

Definition at line 315 of file shadowhand_ros.py.

Initializes the library with just the fingers actually connected

Definition at line 188 of file shadowhand_ros.py.

@return: dictionnary mapping joint names to actual positions
Read all the positions in the lastMsg

Definition at line 380 of file shadowhand_ros.py.

@return: dictionnary mapping joint names to actual targets
Read all the targets in the lastMsg

Definition at line 389 of file shadowhand_ros.py.

@return: dictionnary mapping joint names to actual positions
Read all the positions in the lastMsg

Definition at line 360 of file shadowhand_ros.py.

@return: dictionnary mapping joint names to current targets
Read all the targets in the lastMsg

Definition at line 371 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.record_step_to_file (   self,
  filename,
  grasp_as_xml 
)
@param filename: name (or path) of the file to save to
@param grasp_as_xml: xml-formatted grasp
Write the grasp at the end of the file, creates the file if does not exist

Definition at line 331 of file shadowhand_ros.py.

Resend the targets read in the lastMsg to the hand

Definition at line 398 of file shadowhand_ros.py.

Definition at line 354 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.sendupdate (   self,
  jointName,
  angle = 0 
)
@param jointName: Name of the joint to update
@param angle: Target of the joint, 0 if not set
Sends a new target for the specified joint

Definition at line 261 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.sendupdate_arm (   self,
  jointName,
  angle = 0 
)
@param jointName: Name of the joint to update
@param angle: Target of the joint, 0 if not set
Sends a new target for the specified joint

Definition at line 293 of file shadowhand_ros.py.

@param dicti: Dictionnary containing all the targets to send, mapping the name of the joint to the value of its target
Sends new targets to the hand from a dictionnary

Definition at line 283 of file shadowhand_ros.py.

@param dicti: Dictionnary containing all the targets to send, mapping the name of the joint to the value of its target
Sends new targets to the hand from a dictionnary

Definition at line 239 of file shadowhand_ros.py.

@param topic: The new topic to be set as the hand subscribing topic
Set the library to publish to a new topic

Definition at line 231 of file shadowhand_ros.py.

@param topic: The new topic to be set as the hand publishing topic
Set the library to listen to a new topic

Definition at line 223 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.valueof (   self,
  jointName 
)
@param jointName: Name of the joint to read the value
@return: 'NaN' if the value is not correct, the actual position of the joint else

Definition at line 302 of file shadowhand_ros.py.


Member Data Documentation

Definition at line 48 of file shadowhand_ros.py.

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Definition at line 51 of file shadowhand_ros.py.

EtherCAT hand.

Grasps

Definition at line 51 of file shadowhand_ros.py.

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Definition at line 48 of file shadowhand_ros.py.


The documentation for this class was generated from the following file:


sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:44:03