potential_fields_demos.pf_demo module

class potential_fields_demos.pf_demo.PFDemo(*args: Any, **kwargs: Any)

Bases: Node

create_action_request(joint_trajectory: trajectory_msgs.msg.JointTrajectory)

run_demo_callback(request, response)

save_executed_trajectory_response(joint_names, feedback_samples, result, filename: str = 'data/executed_trajectory.csv')

Save the executed trajectory feedback/time series to CSV. Columns:

time_s, then for each joint: d_<name>, a_<name>, e_<name>, dvel_<name>, avel_<name>, evel_<name>

joint_names: list of joint names feedback_samples: list of samples {t, d_pos, a_pos, e_pos, d_vel, a_vel, e_vel} result: FollowJointTrajectory result message (for logging) filename: output CSV path

save_planned_path_response(plan_path_response)

send_joint_trajectory(joint_trajectory: trajectory_msgs.msg.JointTrajectory)

timer_callback()

potential_fields_demos.pf_demo.main(args=None)

Entry to the node.