Public Member Functions | |
def | __init__ |
def | change_ctrl |
def | change_force_ctrl_type |
def | on_control_mode_radio_button_toggled_ |
def | on_effort_ctrl_clicked_ |
def | on_mixed_ctrl_clicked_ |
def | on_position_ctrl_clicked_ |
def | on_stop_ctrl_clicked_ |
def | on_velocity_ctrl_clicked_ |
def | restore_settings |
def | save_settings |
def | shutdown_plugin |
Static Public Attributes | |
tuple | CONTROLLER_OFF_ICON = QIcon(os.path.join(ICON_DIR, 'red.png')) |
tuple | CONTROLLER_ON_ICON = QIcon(os.path.join(ICON_DIR, 'green.png')) |
dictionary | controllers |
tuple | ICON_DIR = os.path.join(rospkg.RosPack().get_path('sr_visualization_icons'), 'icons') |
Private Member Functions | |
def | _unregisterPublisher |
Private Attributes | |
_publisher | |
_widget |
A rosgui plugin for loading the different controllers
Definition at line 45 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.__init__ | ( | self, | |
context | |||
) |
Definition at line 59 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers._unregisterPublisher | ( | self | ) | [private] |
Definition at line 298 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.change_ctrl | ( | self, | |
controller | |||
) |
Switch the current controller
Definition at line 226 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.change_force_ctrl_type | ( | self, | |
chng_type_msg | |||
) |
Calls the service (realtime_loop/change_control_type) that allows to tell the driver (sr_robot_lib) which type of force control has to be sent to the motor: - torque demand (sr_robot_msgs::ControlType::FORCE) - PWM (sr_robot_msgs::ControlType::PWM) it will deactivate the Effort, Position, Mixed and Velocity buttons for 3 secs to allow hardware controllers to be updated
Definition at line 268 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.on_control_mode_radio_button_toggled_ | ( | self, | |
checked | |||
) |
Switch between FORCE, PWM modes We only react to the currently ON radio button event
Definition at line 99 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.on_effort_ctrl_clicked_ | ( | self | ) |
Effort controller selected
Definition at line 130 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.on_mixed_ctrl_clicked_ | ( | self | ) |
Mixed controller selected
Definition at line 176 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.on_position_ctrl_clicked_ | ( | self | ) |
Position controller selected
Definition at line 153 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.on_stop_ctrl_clicked_ | ( | self | ) |
Stop controller
Definition at line 114 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.on_velocity_ctrl_clicked_ | ( | self | ) |
Velocity controller selected
Definition at line 201 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.restore_settings | ( | self, | |
global_settings, | |||
perspective_settings | |||
) |
Definition at line 309 of file change_controllers.py.
def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.save_settings | ( | self, | |
global_settings, | |||
perspective_settings | |||
) |
Definition at line 306 of file change_controllers.py.
Definition at line 303 of file change_controllers.py.
Definition at line 59 of file change_controllers.py.
Definition at line 59 of file change_controllers.py.
tuple sr_gui_change_controllers::change_controllers.SrGuiChangeControllers::CONTROLLER_OFF_ICON = QIcon(os.path.join(ICON_DIR, 'red.png')) [static] |
Definition at line 51 of file change_controllers.py.
tuple sr_gui_change_controllers::change_controllers.SrGuiChangeControllers::CONTROLLER_ON_ICON = QIcon(os.path.join(ICON_DIR, 'green.png')) [static] |
Definition at line 50 of file change_controllers.py.
dictionary sr_gui_change_controllers::change_controllers.SrGuiChangeControllers::controllers [static] |
{"effort": ["sh_ffj0_effort_controller", "sh_ffj3_effort_controller", "sh_ffj4_effort_controller", "sh_mfj0_effort_controller", "sh_mfj3_effort_controller", "sh_mfj4_effort_controller", "sh_rfj0_effort_controller", "sh_rfj3_effort_controller", "sh_rfj4_effort_controller", "sh_lfj0_effort_controller", "sh_lfj3_effort_controller", "sh_lfj4_effort_controller", "sh_lfj5_effort_controller", "sh_thj1_effort_controller", "sh_thj2_effort_controller", "sh_thj3_effort_controller", "sh_thj4_effort_controller", "sh_thj5_effort_controller", "sh_wrj1_effort_controller", "sh_wrj2_effort_controller"], "position": ["sh_ffj0_position_controller", "sh_ffj3_position_controller", "sh_ffj4_position_controller", "sh_mfj0_position_controller", "sh_mfj3_position_controller", "sh_mfj4_position_controller", "sh_rfj0_position_controller", "sh_rfj3_position_controller", "sh_rfj4_position_controller", "sh_lfj0_position_controller", "sh_lfj3_position_controller", "sh_lfj4_position_controller", "sh_lfj5_position_controller", "sh_thj1_position_controller", "sh_thj2_position_controller", "sh_thj3_position_controller", "sh_thj4_position_controller", "sh_thj5_position_controller", "sh_wrj1_position_controller", "sh_wrj2_position_controller"], "mixed": ["sh_ffj0_mixed_position_velocity_controller", "sh_ffj3_mixed_position_velocity_controller", "sh_ffj4_mixed_position_velocity_controller", "sh_mfj0_mixed_position_velocity_controller", "sh_mfj3_mixed_position_velocity_controller", "sh_mfj4_mixed_position_velocity_controller", "sh_rfj0_mixed_position_velocity_controller", "sh_rfj3_mixed_position_velocity_controller", "sh_rfj4_mixed_position_velocity_controller", "sh_lfj0_mixed_position_velocity_controller", "sh_lfj3_mixed_position_velocity_controller", "sh_lfj4_mixed_position_velocity_controller", "sh_lfj5_mixed_position_velocity_controller", "sh_thj1_mixed_position_velocity_controller", "sh_thj2_mixed_position_velocity_controller", "sh_thj3_mixed_position_velocity_controller", "sh_thj4_mixed_position_velocity_controller", "sh_thj5_mixed_position_velocity_controller", "sh_wrj1_mixed_position_velocity_controller", "sh_wrj2_mixed_position_velocity_controller"], "velocity": ["sh_ffj0_velocity_controller", "sh_ffj3_velocity_controller", "sh_ffj4_velocity_controller", "sh_mfj0_velocity_controller", "sh_mfj3_velocity_controller", "sh_mfj4_velocity_controller", "sh_rfj0_velocity_controller", "sh_rfj3_velocity_controller", "sh_rfj4_velocity_controller", "sh_lfj0_velocity_controller", "sh_lfj3_velocity_controller", "sh_lfj4_velocity_controller", "sh_lfj5_velocity_controller", "sh_thj1_velocity_controller", "sh_thj2_velocity_controller", "sh_thj3_velocity_controller", "sh_thj4_velocity_controller", "sh_thj5_velocity_controller", "sh_wrj1_velocity_controller", "sh_wrj2_velocity_controller"], "stop": []}
Definition at line 53 of file change_controllers.py.
tuple sr_gui_change_controllers::change_controllers.SrGuiChangeControllers::ICON_DIR = os.path.join(rospkg.RosPack().get_path('sr_visualization_icons'), 'icons') [static] |
Definition at line 49 of file change_controllers.py.