dual_arm_interactive_marker Namespace Reference

Functions
def	centering_pose_callback (msg)
def	left_franka_state_callback (msg)
def	make_sphere (scale=0.3)
def	process_feedback (feedback)
def	publish_target_pose ()
def	reset_marker_pose_blocking ()
def	right_franka_state_callback (msg)

Variables
	always_visible
	args = parser.parse_args()
bool	centering_frame_ready = False
	control = InteractiveMarkerControl()
	description
	frame_id
bool	has_error = False
	help
	int_marker = InteractiveMarker()
	interaction_mode
	left_arm_id = args.left_arm_id
bool	left_has_error = False
	left_state_sub
	marker_pose = PoseStamped()
	name
	nargs
	parser = argparse.ArgumentParser("dual_panda_interactive_marker.py")
	pose
	pose_pub = None
	required
	right_arm_id = args.right_arm_id
bool	right_has_error = False
	right_state_sub
	scale
	server = InteractiveMarkerServer("target_pose_marker")
	w
	x
	y
	z

Detailed Description

This simple script creates an interactive marker for changing desired centering pose of
    two the dual_panda_cartesian_impedance_example_controller. It features also resetting the
    marker to current centering pose between the left and the right endeffector.

Function Documentation

def dual_arm_interactive_marker.centering_pose_callback

(

msg

)

This callback function sets the marker pose to the current centering pose from a subscribed topic.
:return: None

Definition at line 83 of file dual_arm_interactive_marker.py.

def dual_arm_interactive_marker.left_franka_state_callback

(

msg

)

This callback function set `has_error` variable to True if the left arm is having an error.
:param msg: FrankaState msg data
:return:  None

Definition at line 55 of file dual_arm_interactive_marker.py.

def dual_arm_interactive_marker.make_sphere

(

scale = 0.3

)

This function returns sphere marker for 3D translational movements.
:param scale: scales the size of the sphere
:return: sphere marker

Definition at line 28 of file dual_arm_interactive_marker.py.

def dual_arm_interactive_marker.process_feedback

(

feedback

)

This callback function clips the marker_pose inside a predefined box to prevent misuse of the marker.
:param feedback: feedback data of interactive marker
:return: None

Definition at line 117 of file dual_arm_interactive_marker.py.

def dual_arm_interactive_marker.publish_target_pose

(

)

This function publishes desired centering pose which the controller will subscribe to.
:return: None

Definition at line 46 of file dual_arm_interactive_marker.py.

def dual_arm_interactive_marker.reset_marker_pose_blocking

(

)

This function resets the marker pose to current "middle pose" of left and right arm EEs.
:return: None

Definition at line 95 of file dual_arm_interactive_marker.py.

def dual_arm_interactive_marker.right_franka_state_callback

(

msg

)

This callback function set `has_error` variable to True if the right arm is having an error.
:param msg: FrankaState msg data
:return:  None

Definition at line 69 of file dual_arm_interactive_marker.py.

Variable Documentation

dual_arm_interactive_marker.always_visible

Definition at line 236 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.args = parser.parse_args()

Definition at line 143 of file dual_arm_interactive_marker.py.

bool dual_arm_interactive_marker.centering_frame_ready = False

Definition at line 19 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.control = InteractiveMarkerControl()

Definition at line 181 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.description

Definition at line 171 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.frame_id

Definition at line 168 of file dual_arm_interactive_marker.py.

bool dual_arm_interactive_marker.has_error = False

Definition at line 21 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.help

Definition at line 137 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.int_marker = InteractiveMarker()

Definition at line 167 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.interaction_mode

Definition at line 187 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.left_arm_id = args.left_arm_id

Definition at line 146 of file dual_arm_interactive_marker.py.

bool dual_arm_interactive_marker.left_has_error = False

Definition at line 22 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.left_state_sub

Initial value:

= rospy.Subscriber(left_arm_id + "_state_controller/franka_states",
                                 FrankaState, left_franka_state_callback)

Definition at line 150 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.marker_pose = PoseStamped()

Definition at line 17 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.name

Definition at line 170 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.nargs

Definition at line 142 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.parser = argparse.ArgumentParser("dual_panda_interactive_marker.py")

Definition at line 135 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.pose

Definition at line 178 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.pose_pub = None

Definition at line 25 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.required

Definition at line 138 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.right_arm_id = args.right_arm_id

Definition at line 147 of file dual_arm_interactive_marker.py.

bool dual_arm_interactive_marker.right_has_error = False

Definition at line 23 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.right_state_sub

Initial value:

= rospy.Subscriber(right_arm_id + "_state_controller/franka_states",
                                 FrankaState, right_franka_state_callback)

Definition at line 153 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.scale

Definition at line 169 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.server = InteractiveMarkerServer("target_pose_marker")

Definition at line 166 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.w

Definition at line 182 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.x

Definition at line 183 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.y

Definition at line 184 of file dual_arm_interactive_marker.py.

dual_arm_interactive_marker.z

Definition at line 185 of file dual_arm_interactive_marker.py.