simple_moveit_interface.simple_moveit_interface Namespace Reference

Functions
def	add_ground ()
def	attach_mesh_to_link (link, name, path)
def	clear_attached_object (attach_link, object_name=None)
def	clear_objects ()
def	get_goal_from_server (group, parameter_name)
	helpers More...
def	get_move_group_commander (group)
def	get_planning_scene_interface ()
def	get_transform_listener ()
def	moveit_cart_goals (group, ref_frame, goal_list, avoid_collisions=True)
def	moveit_get_current_pose (group)
def	moveit_joint_goal (group, goal, replanning=False)
def	moveit_pose_goal (group, ref_frame, goal, replan=False)

Variables
	_mgc_dict = dict()
	_mgc_dict_creation_lock = threading.Lock()
	_psi = None
	_psi_creation_lock = threading.Lock()
	_transform_listener = None
	_transform_listener_creation_lock = threading.Lock()

Function Documentation

def simple_moveit_interface.simple_moveit_interface.add_ground

(

)

Definition at line 80 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.attach_mesh_to_link	(		link,
			name,
			path
	)

Definition at line 106 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.clear_attached_object	(		attach_link,
			object_name = None
	)

Definition at line 100 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.clear_objects

(

)

Definition at line 96 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.get_goal_from_server	(		group,
			parameter_name
	)

helpers

Definition at line 180 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.get_move_group_commander

(

group

)

Gets the move_group_commander for this process.

Definition at line 53 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.get_planning_scene_interface

(

)

Gets the planning_scene_interface for this process.

Definition at line 69 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.get_transform_listener

(

)

Gets the transform listener for this process.
This is needed because tf only allows one transform listener per process. Threadsafe, so
that two threads could call this at the same time, at it will do the right thing.

Definition at line 39 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.moveit_cart_goals	(		group,
			ref_frame,
			goal_list,
			avoid_collisions = True
	)

Definition at line 140 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.moveit_get_current_pose

(

group

)

Definition at line 163 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.moveit_joint_goal	(		group,
			goal,
			replanning = False
	)

Definition at line 114 of file simple_moveit_interface.py.

def simple_moveit_interface.simple_moveit_interface.moveit_pose_goal	(		group,
			ref_frame,
			goal,
			replan = False
	)

Definition at line 124 of file simple_moveit_interface.py.

Variable Documentation

simple_moveit_interface.simple_moveit_interface._mgc_dict = dict()

private

Definition at line 33 of file simple_moveit_interface.py.

simple_moveit_interface.simple_moveit_interface._mgc_dict_creation_lock = threading.Lock()

private

Definition at line 34 of file simple_moveit_interface.py.

simple_moveit_interface.simple_moveit_interface._psi = None

private

Definition at line 36 of file simple_moveit_interface.py.

simple_moveit_interface.simple_moveit_interface._psi_creation_lock = threading.Lock()

private

Definition at line 37 of file simple_moveit_interface.py.

simple_moveit_interface.simple_moveit_interface._transform_listener = None

private

Definition at line 30 of file simple_moveit_interface.py.

simple_moveit_interface.simple_moveit_interface._transform_listener_creation_lock = threading.Lock()

private

Definition at line 31 of file simple_moveit_interface.py.