Public Member Functions
def	__init__
def	execute
def	get_joints_position
def	get_joints_velocity
def	move_to_joint_value_target
def	move_to_joint_value_target_unsafe
def	move_to_named_target
def	plan_to_joint_value_target
def	plan_to_named_target
def	run_joint_trajectory
def	run_joint_trajectory_unsafe
def	set_teach_mode
Static Public Member Functions
def	change_teach_mode
Private Member Functions
def	_get_joints_effort
def	_joint_states_callback
def	_move_to_pose_target
def	_move_to_position_target
def	_plan_to_pose_target
def	_plan_to_position_target
def	_set_up_action_client
Private Attributes
	__plan
	_client
	_joint_states_listener
	_joint_states_lock
	_joints_effort
	_joints_position
	_joints_velocity
	_move_group_commander
	_name
	_planning_scene
	_prefix
	_robot_commander
Static Private Attributes
dictionary	__group_prefixes

Detailed Description

Base class for hand and arm commanders

Definition at line 34 of file sr_robot_commander.py.

Constructor & Destructor Documentation

def sr_robot_commander.sr_robot_commander.SrRobotCommander.__init__	(	self,
		name
	)

Initialize MoveGroupCommander object
@param name - name of the MoveIt group

Definition at line 43 of file sr_robot_commander.py.

Member Function Documentation

def sr_robot_commander.sr_robot_commander.SrRobotCommander._get_joints_effort ( self ) [private]

Returns joints effort
@return - dictionary with joints efforts

Definition at line 148 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander._joint_states_callback	(	self,
		joint_state
	)	`[private]`

The callback function for the topic joint_states.
It will store the received joint position, velocity and efforts
information into dictionaries
@param joint_state - the message containing the joints data.

Definition at line 214 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander._move_to_pose_target	(	self,
		pose,
		end_effector_link = `""`,
		wait = `True`
	)	`[private]`

Specify a target pose for the end-effector and moves to it
@param pose - new pose of end-effector: a Pose message, a PoseStamped
message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list
of 7 floats [x, y, z, qx, qy, qz, qw]
@param end_effector_link - name of the end effector link
@param wait - should method wait for movement end or not

Definition at line 188 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander._move_to_position_target	(	self,
		xyz,
		end_effector_link = `""`,
		wait = `True`
	)	`[private]`

Specify a target position for the end-effector and moves to it
@param xyz - new position of end-effector
@param end_effector_link - name of the end effector link
@param wait - should method wait for movement end or not

Definition at line 166 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander._plan_to_pose_target	(	self,
		pose,
		end_effector_link = `""`
	)	`[private]`

Specify a target pose for the end-effector and plans.
This is a blocking method.
@param pose - new pose of end-effector: a Pose message, a PoseStamped
message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list
of 7 floats [x, y, z, qx, qy, qz, qw]
@param end_effector_link - name of the end effector link

Definition at line 201 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander._plan_to_position_target	(	self,
		xyz,
		end_effector_link = `""`
	)	`[private]`

Specify a target position for the end-effector and plans.
This is a blocking method.
@param xyz - new position of end-effector
@param end_effector_link - name of the end effector link

Definition at line 177 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander._set_up_action_client ( self ) [private]

Sets up an action client to communicate with the trajectory controller

Definition at line 231 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.change_teach_mode	(	mode,
		robot
	)	`[static]`

Definition at line 315 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.execute ( self )

Executes the last plan made.

Definition at line 71 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.get_joints_position ( self )

Returns joints position
@return - dictionary with joints positions

Definition at line 132 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.get_joints_velocity ( self )

Returns joints velocities
@return - dictionary with joints velocities

Definition at line 140 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.move_to_joint_value_target	(	self,
		joint_states,
		wait = `True`,
		angle_degrees = `False`
	)

Set target of the robot's links and moves to it.
@param joint_states - dictionary with joint name and value. It can
contain only joints values of which need to be changed.
@param wait - should method wait for movement end or not
@param angle_degrees - are joint_states in degrees or not

Definition at line 81 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.move_to_joint_value_target_unsafe	(	self,
		joint_states,
		time = `0.002`,
		wait = `True`,
		angle_degrees = `False`
	)

Set target of the robot's links and moves to it.
@param joint_states - dictionary with joint name and value. It can
contain only joints values of which need to be changed.
@param time - time in s (counting from now) for the robot to reach the
target (it needs to be greater than 0.0 for it not to be rejected by
the trajectory controller)
@param wait - should method wait for movement end or not
@param angle_degrees - are joint_states in degrees or not

Definition at line 244 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.move_to_named_target	(	self,
		name,
		wait = `True`
	)

Set target of the robot's links and moves to it
@param name - name of the target pose defined in SRDF
@param wait - should method wait for movement end or not

Definition at line 112 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.plan_to_joint_value_target	(	self,
		joint_states,
		angle_degrees = `False`
	)

Set target of the robot's links and plans.
@param joint_states - dictionary with joint name and value. It can
contain only joints values of which need to be changed.
@param angle_degrees - are joint_states in degrees or not
This is a blocking method.

Definition at line 97 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.plan_to_named_target	(	self,
		name
	)

Set target of the robot's links and plans
This is a blocking method.
@param name - name of the target pose defined in SRDF

Definition at line 122 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.run_joint_trajectory	(	self,
		joint_trajectory
	)

Moves robot through all joint states with specified timeouts
@param joint_trajectory - JointTrajectory class object. Represents
trajectory of the joints which would be executed.

Definition at line 156 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.run_joint_trajectory_unsafe	(	self,
		joint_trajectory,
		wait = `True`
	)

Moves robot through all joint states with specified timeouts
@param joint_trajectory - JointTrajectory class object. Represents
trajectory of the joints which would be executed.
@param wait - should method wait for movement end or not

Definition at line 279 of file sr_robot_commander.py.

def sr_robot_commander.sr_robot_commander.SrRobotCommander.set_teach_mode	(	self,
		teach
	)

Activates/deactivates the teach mode for the robot.
Activation: stops the the trajectory controllers for the robot, and
sets it to teach mode.
Deactivation: stops the teach mode and starts trajectory controllers
for the robot.
Currently this method blocks for a few seconds when called on a hand,
while the hand parameters are reloaded.
@param teach - bool to activate or deactivate teach mode

Definition at line 296 of file sr_robot_commander.py.

Member Data Documentation

dictionary sr_robot_commander::sr_robot_commander.SrRobotCommander::__group_prefixes [static, private]

Initial value:

{"right_arm": "ra_",
                        "left_arm": "la_",
                        "right_hand": "rh_",
                        "left_hand": "lh_"}

Definition at line 38 of file sr_robot_commander.py.

sr_robot_commander::sr_robot_commander.SrRobotCommander::__plan [private]

Definition at line 46 of file sr_robot_commander.py.

sr_robot_commander::sr_robot_commander.SrRobotCommander::_client [private]

Definition at line 233 of file sr_robot_commander.py.

sr_robot_commander::sr_robot_commander.SrRobotCommander::_joint_states_listener [private]

Definition at line 46 of file sr_robot_commander.py.

sr_robot_commander::sr_robot_commander.SrRobotCommander::_joint_states_lock [private]

Definition at line 46 of file sr_robot_commander.py.

sr_robot_commander::sr_robot_commander.SrRobotCommander::_joints_effort [private]

Definition at line 46 of file sr_robot_commander.py.

sr_robot_commander::sr_robot_commander.SrRobotCommander::_joints_position [private]