robot_jogging Namespace Reference

Functions
def	jog (vx, vy, vz, ang_x, ang_y, ang_z, action_client)
def	redundancy_resolution (q_i_change, q_index, alpha_scale, action_client)

Variables
	alpha = -abs(args.alpha)
	args = parser.parse_args()
	arm_group = moveit_commander.MoveGroupCommander(arm_group_name, ns=rospy.get_namespace())
string	arm_group_name = "xarm7"
	client
	default
	display_trajectory_publisher
	float
	help
	metavar
	parser = argparse.ArgumentParser(description='Redundancy Resolution')
float	q_angle_change_rad = args.q_angle_change/180.0
	q_index = args.index
	robot = moveit_commander.RobotCommander("robot_description")
	scene = moveit_commander.PlanningSceneInterface(ns=rospy.get_namespace())
	type

Function Documentation

def robot_jogging.jog	(		vx,
			vy,
			vz,
			ang_x,
			ang_y,
			ang_z,
			action_client
	)

Definition at line 13 of file robot_jogging.py.

def robot_jogging.redundancy_resolution	(		q_i_change,
			q_index,
			alpha_scale,
			action_client
	)

Definition at line 51 of file robot_jogging.py.

Variable Documentation

robot_jogging.alpha = -abs(args.alpha)

Definition at line 112 of file robot_jogging.py.

robot_jogging.args = parser.parse_args()

Definition at line 109 of file robot_jogging.py.

robot_jogging.arm_group = moveit_commander.MoveGroupCommander(arm_group_name, ns=rospy.get_namespace())

Definition at line 124 of file robot_jogging.py.

string robot_jogging.arm_group_name = "xarm7"

Definition at line 121 of file robot_jogging.py.

robot_jogging.client

Initial value:

= actionlib.SimpleActionClient('/xarm/xarm7_traj_controller/follow_joint_trajectory',
                                          FollowJointTrajectoryAction)

Definition at line 117 of file robot_jogging.py.

robot_jogging.default

Definition at line 102 of file robot_jogging.py.

robot_jogging.display_trajectory_publisher

Initial value:

= rospy.Publisher(rospy.get_namespace() + 'move_group/display_planned_path',
                                                        moveit_msgs.msg.DisplayTrajectory,
                                                        queue_size=20)

Definition at line 125 of file robot_jogging.py.

robot_jogging.float

Definition at line 103 of file robot_jogging.py.

robot_jogging.help

Definition at line 103 of file robot_jogging.py.

robot_jogging.metavar

Definition at line 103 of file robot_jogging.py.

robot_jogging.parser = argparse.ArgumentParser(description='Redundancy Resolution')

Definition at line 101 of file robot_jogging.py.

float robot_jogging.q_angle_change_rad = args.q_angle_change/180.0

Definition at line 110 of file robot_jogging.py.

robot_jogging.q_index = args.index

Definition at line 111 of file robot_jogging.py.

robot_jogging.robot = moveit_commander.RobotCommander("robot_description")

Definition at line 122 of file robot_jogging.py.

robot_jogging.scene = moveit_commander.PlanningSceneInterface(ns=rospy.get_namespace())

Definition at line 123 of file robot_jogging.py.

robot_jogging.type

Definition at line 103 of file robot_jogging.py.