create_ikfast_moveit_plugin Namespace Reference

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

Detailed Description

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

Function Documentation

def create_ikfast_moveit_plugin.update_deps	(		reqd_deps,
			req_type,
			e_parent
	)

Definition at line 284 of file create_ikfast_moveit_plugin.py.

Variable Documentation

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

Initial value:

= etree.Element("moveit_core", \
                                 plugin="${prefix}/"+def_file_base)

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.