Functions
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()

	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

◆ left_franka_state_callback()

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 53 of file dual_arm_interactive_marker.py.

◆ make_sphere()

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 26 of file dual_arm_interactive_marker.py.

◆ process_feedback()

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 92 of file dual_arm_interactive_marker.py.

◆ publish_target_pose()

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 44 of file dual_arm_interactive_marker.py.

◆ reset_marker_pose_blocking()

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 81 of file dual_arm_interactive_marker.py.

◆ right_franka_state_callback()

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 67 of file dual_arm_interactive_marker.py.

Variable Documentation

◆ always_visible

dual_arm_interactive_marker.always_visible

Definition at line 212 of file dual_arm_interactive_marker.py.

◆ args

dual_arm_interactive_marker.args = parser.parse_args()

Definition at line 119 of file dual_arm_interactive_marker.py.

◆ control

dual_arm_interactive_marker.control = InteractiveMarkerControl()

Definition at line 157 of file dual_arm_interactive_marker.py.

◆ description

dual_arm_interactive_marker.description

Definition at line 147 of file dual_arm_interactive_marker.py.

◆ frame_id

dual_arm_interactive_marker.frame_id

Definition at line 144 of file dual_arm_interactive_marker.py.

◆ has_error

bool dual_arm_interactive_marker.has_error = False

Definition at line 19 of file dual_arm_interactive_marker.py.

◆ help

dual_arm_interactive_marker.help

Definition at line 113 of file dual_arm_interactive_marker.py.

◆ int_marker

dual_arm_interactive_marker.int_marker = InteractiveMarker()

Definition at line 143 of file dual_arm_interactive_marker.py.

◆ interaction_mode

dual_arm_interactive_marker.interaction_mode

Definition at line 163 of file dual_arm_interactive_marker.py.

◆ left_arm_id

dual_arm_interactive_marker.left_arm_id = args.left_arm_id

Definition at line 122 of file dual_arm_interactive_marker.py.

◆ left_has_error

bool dual_arm_interactive_marker.left_has_error = False

Definition at line 20 of file dual_arm_interactive_marker.py.

◆ left_state_sub

dual_arm_interactive_marker.left_state_sub

Initial value:

1 = rospy.Subscriber(left_arm_id + "_state_controller/franka_states",

2 FrankaState, left_franka_state_callback)

Definition at line 126 of file dual_arm_interactive_marker.py.

◆ marker_pose

dual_arm_interactive_marker.marker_pose = PoseStamped()

Definition at line 17 of file dual_arm_interactive_marker.py.

◆ name

dual_arm_interactive_marker.name

Definition at line 146 of file dual_arm_interactive_marker.py.

◆ nargs

dual_arm_interactive_marker.nargs

Definition at line 118 of file dual_arm_interactive_marker.py.

◆ parser

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

Definition at line 111 of file dual_arm_interactive_marker.py.

◆ pose

dual_arm_interactive_marker.pose

Definition at line 154 of file dual_arm_interactive_marker.py.

◆ pose_pub

dual_arm_interactive_marker.pose_pub = None

Definition at line 23 of file dual_arm_interactive_marker.py.

◆ required

dual_arm_interactive_marker.required

Definition at line 114 of file dual_arm_interactive_marker.py.

◆ right_arm_id

dual_arm_interactive_marker.right_arm_id = args.right_arm_id

Definition at line 123 of file dual_arm_interactive_marker.py.

◆ right_has_error

bool dual_arm_interactive_marker.right_has_error = False

Definition at line 21 of file dual_arm_interactive_marker.py.

◆ right_state_sub

dual_arm_interactive_marker.right_state_sub

Initial value:

1 = rospy.Subscriber(right_arm_id + "_state_controller/franka_states",

2 FrankaState, right_franka_state_callback)

Definition at line 129 of file dual_arm_interactive_marker.py.

◆ scale

dual_arm_interactive_marker.scale

Definition at line 145 of file dual_arm_interactive_marker.py.

◆ server

dual_arm_interactive_marker.server = InteractiveMarkerServer("target_pose_marker")

Definition at line 142 of file dual_arm_interactive_marker.py.

◆ w

dual_arm_interactive_marker.w

Definition at line 158 of file dual_arm_interactive_marker.py.

◆ x

dual_arm_interactive_marker.x

Definition at line 159 of file dual_arm_interactive_marker.py.

◆ y

dual_arm_interactive_marker.y

Definition at line 160 of file dual_arm_interactive_marker.py.

◆ z

dual_arm_interactive_marker.z

Definition at line 161 of file dual_arm_interactive_marker.py.

Functions

Variables