Functions | Variables
dual_arm_interactive_marker Namespace Reference


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)


 args = parser.parse_args()
bool centering_frame_ready = False
 control = InteractiveMarkerControl()
bool has_error = False
 int_marker = InteractiveMarker()
 left_arm_id = args.left_arm_id
bool left_has_error = False
 marker_pose = PoseStamped()
 parser = argparse.ArgumentParser("")
 pose_pub = None
 right_arm_id = args.right_arm_id
bool right_has_error = False
 server = InteractiveMarkerServer("target_pose_marker")

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

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

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

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

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

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

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

Variable Documentation


Definition at line 236 of file

dual_arm_interactive_marker.args = parser.parse_args()

Definition at line 143 of file

bool dual_arm_interactive_marker.centering_frame_ready = False

Definition at line 19 of file

dual_arm_interactive_marker.control = InteractiveMarkerControl()

Definition at line 181 of file


Definition at line 171 of file


Definition at line 168 of file

bool dual_arm_interactive_marker.has_error = False

Definition at line 21 of file

Definition at line 137 of file

dual_arm_interactive_marker.int_marker = InteractiveMarker()

Definition at line 167 of file


Definition at line 187 of file

dual_arm_interactive_marker.left_arm_id = args.left_arm_id

Definition at line 146 of file

bool dual_arm_interactive_marker.left_has_error = False

Definition at line 22 of file

Initial value:
1 = rospy.Subscriber(left_arm_id + "_state_controller/franka_states",
2  FrankaState, left_franka_state_callback)

Definition at line 150 of file

dual_arm_interactive_marker.marker_pose = PoseStamped()

Definition at line 17 of file

Definition at line 170 of file


Definition at line 142 of file

dual_arm_interactive_marker.parser = argparse.ArgumentParser("")

Definition at line 135 of file


Definition at line 178 of file

dual_arm_interactive_marker.pose_pub = None

Definition at line 25 of file


Definition at line 138 of file

dual_arm_interactive_marker.right_arm_id = args.right_arm_id

Definition at line 147 of file

bool dual_arm_interactive_marker.right_has_error = False

Definition at line 23 of file

Initial value:
1 = rospy.Subscriber(right_arm_id + "_state_controller/franka_states",
2  FrankaState, right_franka_state_callback)

Definition at line 153 of file


Definition at line 169 of file

dual_arm_interactive_marker.server = InteractiveMarkerServer("target_pose_marker")

Definition at line 166 of file


Definition at line 182 of file


Definition at line 183 of file


Definition at line 184 of file


Definition at line 185 of file

Author(s): Franka Emika GmbH
autogenerated on Fri Oct 23 2020 03:47:17