Functions | |
def | update_deps (reqd_deps, req_type, e_parent) |
Variables | |
list | build_deps = ["liblapack-dev", "moveit_core", "pluginlib", "roscpp", "tf_conversions"] |
cl = etree.SubElement(plugin_def, "class") | |
string | cmake_file = plugin_pkg_dir+'/CMakeLists.txt' |
string | cmake_template_file = plugin_gen_dir+"/templates/CMakeLists.txt" |
string | def_file_base = ik_library_name+"_description.xml" |
string | def_file_name = plugin_pkg_dir+"/" |
default_flow_style | |
desc = etree.SubElement(cl, "description") | |
string | easy_script_file_name = "update_ikfast_plugin.sh" |
string | easy_script_file_path = plugin_pkg_dir+"/" |
encoding | |
export_element = package_xml.getroot().find("export") | |
f | |
bool | found = False |
tuple | foundName = (g.get('name').lower() == planning_group_name.lower()) |
groups = srdf.findall('group') | |
string | header_file_name = plugin_pkg_dir+'/include/ikfast.h' |
string | ik_library_name = robot_name+"_" |
ikfast_output_file = sys.argv[5] | |
kin_yaml_data = yaml.safe_load(f) | |
string | kin_yaml_file_name = plan_pkg_dir+"/config/kinematics.yaml" |
line_search = re.search('ikfast version (.*) generated', line) | |
moveit_plugin_pkg = sys.argv[3] | |
new_export | |
string | package_file_name = plugin_pkg_dir+"/package.xml" |
package_xml = etree.parse(package_file_name, parser) | |
parser = etree.XMLParser(remove_blank_text=True) | |
string | plan_pkg = robot_name+'_moveit_config' |
plan_pkg_dir = roslib.packages.get_pkg_dir(plan_pkg) | |
planning_group = None | |
planning_group_name = sys.argv[2] | |
plugin_def = etree.Element("library", path="lib/lib"+ik_library_name) | |
string | plugin_file_base = robot_name+'_' |
string | plugin_file_name = plugin_pkg_dir+'/src/' |
plugin_gen_dir = os.path.join(roslib.packages.get_pkg_dir(plugin_gen_pkg), plugin_sub_dir) | |
string | plugin_gen_pkg = 'moveit_kinematics' |
string | plugin_name = robot_name+'_' |
plugin_pkg = moveit_plugin_pkg | |
plugin_pkg_dir = roslib.packages.get_pkg_dir(plugin_pkg) | |
string | plugin_pkg_include_dir = plugin_pkg_dir+'/include/' |
string | plugin_pkg_src_dir = plugin_pkg_dir+'/src/' |
string | plugin_sub_dir = 'ikfast_kinematics_plugin' |
pretty_print | |
robot_name = sys.argv[1] | |
list | run_deps = ["liblapack-dev", "moveit_core", "pluginlib", "roscpp", "tf_conversions"] |
search_mode = sys.argv[4] | |
list | search_modes = ['OPTIMIZE_MAX_JOINT', 'OPTIMIZE_FREE_JOINT' ] |
bool | skip = False |
string | solver_file_name = plugin_pkg_dir+'/src/' |
int | solver_version = 0 |
srdf = etree.parse(srdf_file_name).getroot() | |
srdf_file_name = srdf_files[0] | |
srdf_files = glob.glob(plan_pkg_dir+'/config/*.srdf') | |
template_file_data = open(template_file_name, 'r') | |
string | template_file_name = plugin_gen_dir+'/templates/ikfast' |
string | template_header_file = plugin_gen_dir+'/templates/ikfast.h' |
template_text = template_file_data.read() | |
int | template_version = 61 |
text | |
True | |
xml_declaration | |
IKFast Plugin Generator for MoveIt! Creates a kinematics plugin using the output of IKFast from OpenRAVE. This plugin and the move_group node can be used as a general kinematics service, from within the moveit planning environment, or in your own ROS node. Author: Dave Coleman, CU Boulder Based heavily on the arm_kinematic_tools package by Jeremy Zoss, SwRI and the arm_navigation plugin generator by David Butterworth, KAIST Date: March 2013
def create_ikfast_moveit_plugin.update_deps | ( | reqd_deps, | |
req_type, | |||
e_parent | |||
) |
Definition at line 284 of file create_ikfast_moveit_plugin.py.
list create_ikfast_moveit_plugin.build_deps = ["liblapack-dev", "moveit_core", "pluginlib", "roscpp", "tf_conversions"] |
Definition at line 281 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.cl = etree.SubElement(plugin_def, "class") |
Definition at line 237 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.cmake_file = plugin_pkg_dir+'/CMakeLists.txt' |
Definition at line 261 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.cmake_template_file = plugin_gen_dir+"/templates/CMakeLists.txt" |
Definition at line 255 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.def_file_base = ik_library_name+"_description.xml" |
Definition at line 245 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.def_file_name = plugin_pkg_dir+"/" |
Definition at line 246 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.default_flow_style |
Definition at line 320 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.desc = etree.SubElement(cl, "description") |
Definition at line 241 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.easy_script_file_name = "update_ikfast_plugin.sh" |
Definition at line 324 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.easy_script_file_path = plugin_pkg_dir+"/" |
Definition at line 325 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.encoding |
Definition at line 248 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.export_element = package_xml.getroot().find("export") |
Definition at line 297 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.f |
Definition at line 248 of file create_ikfast_moveit_plugin.py.
tuple create_ikfast_moveit_plugin.found = False |
Definition at line 300 of file create_ikfast_moveit_plugin.py.
tuple create_ikfast_moveit_plugin.foundName = (g.get('name').lower() == planning_group_name.lower()) |
Definition at line 130 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.groups = srdf.findall('group') |
Definition at line 115 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.header_file_name = plugin_pkg_dir+'/include/ikfast.h' |
Definition at line 204 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.ik_library_name = robot_name+"_" |
Definition at line 233 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.ikfast_output_file = sys.argv[5] |
Definition at line 66 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.kin_yaml_data = yaml.safe_load(f) |
Definition at line 317 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.kin_yaml_file_name = plan_pkg_dir+"/config/kinematics.yaml" |
Definition at line 315 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.line_search = re.search('ikfast version (.*) generated', line) |
Definition at line 177 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.moveit_plugin_pkg = sys.argv[3] |
Definition at line 64 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.new_export |
Definition at line 295 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.package_file_name = plugin_pkg_dir+"/package.xml" |
Definition at line 277 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.package_xml = etree.parse(package_file_name, parser) |
Definition at line 278 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.parser = etree.XMLParser(remove_blank_text=True) |
Definition at line 276 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.plan_pkg = robot_name+'_moveit_config' |
Definition at line 84 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.plan_pkg_dir = roslib.packages.get_pkg_dir(plan_pkg) |
Definition at line 85 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.planning_group = None |
Definition at line 128 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.planning_group_name = sys.argv[2] |
Definition at line 63 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.plugin_def = etree.Element("library", path="lib/lib"+ik_library_name) |
Definition at line 236 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.plugin_file_base = robot_name+'_' |
Definition at line 225 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.plugin_file_name = plugin_pkg_dir+'/src/' |
Definition at line 227 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.plugin_gen_dir = os.path.join(roslib.packages.get_pkg_dir(plugin_gen_pkg), plugin_sub_dir) |
Definition at line 185 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.plugin_gen_pkg = 'moveit_kinematics' |
Definition at line 54 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.plugin_name = robot_name+'_' |
Definition at line 234 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.plugin_pkg = moveit_plugin_pkg |
Definition at line 91 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.plugin_pkg_dir = roslib.packages.get_pkg_dir(plugin_pkg) |
Definition at line 92 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.plugin_pkg_include_dir = plugin_pkg_dir+'/include/' |
Definition at line 142 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.plugin_pkg_src_dir = plugin_pkg_dir+'/src/' |
Definition at line 141 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.plugin_sub_dir = 'ikfast_kinematics_plugin' |
Definition at line 55 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.pretty_print |
Definition at line 248 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.robot_name = sys.argv[1] |
Definition at line 62 of file create_ikfast_moveit_plugin.py.
list create_ikfast_moveit_plugin.run_deps = ["liblapack-dev", "moveit_core", "pluginlib", "roscpp", "tf_conversions"] |
Definition at line 282 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.search_mode = sys.argv[4] |
Definition at line 67 of file create_ikfast_moveit_plugin.py.
list create_ikfast_moveit_plugin.search_modes = ['OPTIMIZE_MAX_JOINT', 'OPTIMIZE_FREE_JOINT' ] |
Definition at line 57 of file create_ikfast_moveit_plugin.py.
bool create_ikfast_moveit_plugin.skip = False |
Definition at line 159 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.solver_file_name = plugin_pkg_dir+'/src/' |
Definition at line 157 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.solver_version = 0 |
Definition at line 173 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.srdf = etree.parse(srdf_file_name).getroot() |
Definition at line 105 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.srdf_file_name = srdf_files[0] |
Definition at line 102 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.srdf_files = glob.glob(plan_pkg_dir+'/config/*.srdf') |
Definition at line 100 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.template_file_data = open(template_file_name, 'r') |
Definition at line 220 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.template_file_name = plugin_gen_dir+'/templates/ikfast' |
Definition at line 213 of file create_ikfast_moveit_plugin.py.
string create_ikfast_moveit_plugin.template_header_file = plugin_gen_dir+'/templates/ikfast.h' |
Definition at line 198 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.template_text = template_file_data.read() |
Definition at line 221 of file create_ikfast_moveit_plugin.py.
int create_ikfast_moveit_plugin.template_version = 61 |
Definition at line 192 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.text |
Definition at line 242 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.True |
Definition at line 248 of file create_ikfast_moveit_plugin.py.
create_ikfast_moveit_plugin.xml_declaration |
Definition at line 248 of file create_ikfast_moveit_plugin.py.