hironx_ros_bridge.ros_client.ROS_Client Class Reference

List of all members.

Public Member Functions
def	__init__
def	go_init
def	set_joint_angles_deg
def	set_joint_angles_rad
def	set_pose
Private Member Functions
def	_init_action_clients
def	_init_moveit_commanders
def	_set_groupnames
def	_to_rad_list
Private Attributes
	_aclient_head
	_aclient_larm
	_aclient_rarm
	_aclient_torso
	_goal_head
	_goal_larm
	_goal_rarm
	_goal_torso
	_GR_HEAD
	_GR_LARM
	_GR_RARM
	_GR_TORSO
	_movegr_larm
	_movegr_rarm
Static Private Attributes
tuple	_MSG_NO_MOVEGROUP_FOUND

---

Detailed Description

This class:

- holds methods that are specific to Kawada Industries' dual-arm
robot called Hiro, via ROS.
- As of July 2014, this class is only intended to be used through HIRONX
  class.

Definition at line 54 of file ros_client.py.

---

Constructor & Destructor Documentation

def hironx_ros_bridge.ros_client.ROS_Client.__init__	(		self,
			jointgroups = None
	)

@type jointgroups: [str]

Definition at line 68 of file ros_client.py.

---

Member Function Documentation

def hironx_ros_bridge.ros_client.ROS_Client._init_action_clients

(

self

)

[private]

Definition at line 110 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client._init_moveit_commanders

(

self

)

[private]

@raise RuntimeError: When MoveGroup is not running.

Definition at line 98 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client._set_groupnames	(		self,
			groupnames
	)		[private]

@type groupnames: [str]
@param groupnames: List of the joint group names. Assumes to be in the
           following order:
               torso, head, right arm, left arm.
           This current setting is derived from the order of
           Groups argument in HIRONX class. If other groups
           need to be defined in the future, this method may
           need to be modified.

Definition at line 154 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client._to_rad_list	(		self,
			list_degree
	)		[private]

@TODO Needs to be replaced by something more common, or at least moved
      somewhere more common.

@type list_degree: [float]
@param list_degree: A list length of the number of joints.

Definition at line 243 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.go_init	(		self,
			task_duration = 7.0
	)

Init positions are taken from HIRONX.
TODO: Need to add factory position too that's so convenient when
      working with the manufacturer.
@type task_duration: float

Definition at line 171 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.set_joint_angles_deg	(		self,
			groupname,
			positions_deg,
			duration = 7.0,
			wait = False
	)

@type groupname: str
@param groupname: This should exist in self.groupnames.
@type positions_deg: [float]
@type duration: float
@type wait: bool

Definition at line 231 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.set_joint_angles_rad	(		self,
			groupname,
			positions_radian,
			duration = 7.0,
			wait = False
	)

@type groupname: str
@param groupname: This should exist in self.groupnames.
@type positions_radian: [float]
@type duration: float
@type wait: bool

Definition at line 190 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.set_pose	(		self,
			joint_group,
			position,
			rpy = None,
			task_duration = 7.0,
			do_wait = True,
			ref_frame_name = None
	)

Accept pose defined by position and RPY in Cartesian format.

@type joint_group: str
@type position: [float]
@param position: x, y, z.
@type rpy: [float]
@param rpy: If None, keep the current orientation by using
    MoveGroupCommander.set_position_target. See:
     'http://moveit.ros.org/doxygen/' +
     'classmoveit__commander_1_1move__group_1_1' +
     'MoveGroupCommander.html#acfe2220fd85eeb0a971c51353e437753'
@param ref_frame_name: TODO: Not utilized yet. Need to be implemented.

Definition at line 258 of file ros_client.py.

---

Member Data Documentation

hironx_ros_bridge::ros_client.ROS_Client::_aclient_head [private]

Definition at line 110 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_aclient_larm [private]

Definition at line 110 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_aclient_rarm [private]

Definition at line 110 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_aclient_torso [private]

Definition at line 110 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_goal_head [private]

Definition at line 110 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_goal_larm [private]

Definition at line 110 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_goal_rarm [private]

Definition at line 110 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_goal_torso [private]

Definition at line 110 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_GR_HEAD [private]

Definition at line 163 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_GR_LARM [private]

Definition at line 163 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_GR_RARM [private]

Definition at line 163 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_GR_TORSO [private]

Definition at line 163 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_movegr_larm [private]

Definition at line 70 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_movegr_rarm [private]

Definition at line 70 of file ros_client.py.

tuple hironx_ros_bridge::ros_client.ROS_Client::_MSG_NO_MOVEGROUP_FOUND [static, private]

Initial value:

('\nMake sure you\'ve launched MoveGroup ' +
                               '(e.g. by launching ' +
                               'moveit_planning_execution.launch)')

Definition at line 64 of file ros_client.py.

---

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

• ros_client.py