Detailed Description
This is a python library used to easily access the shadow hand ROS interface.
Definition at line 45 of file shadowhand_ros.py.
Constructor & Destructor Documentation
◆ __init__()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.__init__ | ( | self | ) |
Builds the library, creates the communication node in ROS and initializes the hand publisher and subscriber to the default values of shadowhand_data and sendupdate
Definition at line 51 of file shadowhand_ros.py.
Member Function Documentation
◆ activate_etherCAT_hand()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.activate_etherCAT_hand | ( | self | ) |
At the moment we just try to use the mixed position velocity controllers
Definition at line 506 of file shadowhand_ros.py.
◆ callback()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.callback | ( | self, | |
| data | |||
| ) |
@param data: The ROS message received which called the callback If the message is the first received, initializes the dictionnaries Else, it updates the lastMsg
Definition at line 191 of file shadowhand_ros.py.
◆ callback_arm()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.callback_arm | ( | self, | |
| data | |||
| ) |
@param data: The ROS message received which called the callback If the message is the first received, initializes the dictionnaries Else, it updates the lastMsg
Definition at line 206 of file shadowhand_ros.py.
◆ callback_ethercat_states()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.callback_ethercat_states | ( | self, | |
| data, | |||
| jointName | |||
| ) |
@param data: The ROS message received which called the callback If the message is the first received, initializes the dictionnaries Else, it updates the lastMsg @param joint: a Joint object that contains the name of the joint that we receive data from
Definition at line 156 of file shadowhand_ros.py.
◆ callVisualisationService()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.callVisualisationService | ( | self, | |
callList = 0, |
|||
reset = 0 |
|||
| ) |
@param callList: dictionnary mapping joint names to information that should be displayed @param reset: flag used to tell if the parameters should be replaced by the new ones or just added to the previous ones. Calls a ROS service to display various information in Rviz
Definition at line 461 of file shadowhand_ros.py.
◆ check_CAN_hand_presence()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.check_CAN_hand_presence | ( | self | ) |
@return : true if the CAN hand is detected
Definition at line 239 of file shadowhand_ros.py.
◆ check_etherCAT_hand_presence()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.check_etherCAT_hand_presence | ( | self | ) |
Only used to check if a real etherCAT hand is detected in the system check if something is being published to this topic, otherwise return false Bear in mind that the gazebo hand also publishes the joint_states topic, so we need to check for the gazebo hand first
Definition at line 474 of file shadowhand_ros.py.
◆ check_gazebo_hand_presence()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.check_gazebo_hand_presence | ( | self | ) |
Only used to check if a Gazebo simulated (etherCAT protocol) hand is detected in the system check if something is being published to this topic, otherwise return false
Definition at line 491 of file shadowhand_ros.py.
◆ check_hand_type()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.check_hand_type | ( | self | ) |
@return : true if some hand is detected
Definition at line 227 of file shadowhand_ros.py.
◆ create_grasp_interpoler()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.create_grasp_interpoler | ( | self, | |
| current_step, | |||
| next_step | |||
| ) |
Definition at line 153 of file shadowhand_ros.py.
◆ get_tactile_state()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.get_tactile_state | ( | self | ) |
Definition at line 571 of file shadowhand_ros.py.
◆ get_tactile_type()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.get_tactile_type | ( | self | ) |
Definition at line 568 of file shadowhand_ros.py.
◆ has_arm()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.has_arm | ( | self | ) |
@return : True if an arm is detected on the roscore
Definition at line 357 of file shadowhand_ros.py.
◆ init_actual_joints()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.init_actual_joints | ( | self | ) |
Initializes the library with just the fingers actually connected
Definition at line 218 of file shadowhand_ros.py.
◆ joint_states_callback()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.joint_states_callback | ( | self, | |
| joint_state | |||
| ) |
The callback function for the topic joint_states. It will store the received joint velocity and effort information in two dictionaries Velocity will be converted to degrees/s. Effort units are kept as they are (currently ADC units, as no calibration is performed on the strain gauges) @param joint_state: the message containing the joints data.
Definition at line 545 of file shadowhand_ros.py.
◆ read_all_current_arm_positions()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_arm_positions | ( | self | ) |
@return: dictionnary mapping joint names to actual positions Read all the positions in the lastMsg
Definition at line 436 of file shadowhand_ros.py.
◆ read_all_current_arm_targets()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_arm_targets | ( | self | ) |
@return: dictionnary mapping joint names to actual targets Read all the targets in the lastMsg
Definition at line 445 of file shadowhand_ros.py.
◆ read_all_current_efforts()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_efforts | ( | self | ) |
@return: dictionary mapping joint names to current efforts
Definition at line 429 of file shadowhand_ros.py.
◆ read_all_current_positions()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_positions | ( | self | ) |
@return: dictionnary mapping joint names to actual positions Read all the positions in the lastMsg
Definition at line 402 of file shadowhand_ros.py.
◆ read_all_current_targets()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_targets | ( | self | ) |
@return: dictionnary mapping joint names to current targets Read all the targets in the lastMsg
Definition at line 413 of file shadowhand_ros.py.
◆ read_all_current_velocities()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_velocities | ( | self | ) |
@return: dictionary mapping joint names to current velocities
Definition at line 422 of file shadowhand_ros.py.
◆ record_step_to_file()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.record_step_to_file | ( | self, | |
| filename, | |||
| grasp_as_xml | |||
| ) |
@param filename: name (or path) of the file to save to @param grasp_as_xml: xml-formatted grasp Write the grasp at the end of the file, creates the file if does not exist
Definition at line 373 of file shadowhand_ros.py.
◆ resend_targets()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.resend_targets | ( | self | ) |
Resend the targets read in the lastMsg to the hand
Definition at line 454 of file shadowhand_ros.py.
◆ save_hand_position_to_file()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.save_hand_position_to_file | ( | self, | |
| filename | |||
| ) |
Definition at line 396 of file shadowhand_ros.py.
◆ sendupdate()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate | ( | self, | |
| jointName, | |||
angle = 0 |
|||
| ) |
@param jointName: Name of the joint to update @param angle: Target of the joint, 0 if not set Sends a new target for the specified joint
Definition at line 300 of file shadowhand_ros.py.
◆ sendupdate_arm()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate_arm | ( | self, | |
| jointName, | |||
angle = 0 |
|||
| ) |
@param jointName: Name of the joint to update @param angle: Target of the joint, 0 if not set Sends a new target for the specified joint
Definition at line 335 of file shadowhand_ros.py.
◆ sendupdate_arm_from_dict()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate_arm_from_dict | ( | self, | |
| dicti | |||
| ) |
@param dicti: Dictionnary containing all the targets to send, mapping the name of the joint to the value of its target. Sends new targets to the hand from a dictionnary
Definition at line 324 of file shadowhand_ros.py.
◆ sendupdate_from_dict()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate_from_dict | ( | self, | |
| dicti | |||
| ) |
@param dicti: Dictionnary containing all the targets to send, mapping the name of the joint to the value of its target. Sends new targets to the hand from a dictionnary
Definition at line 271 of file shadowhand_ros.py.
◆ set_sendupdate_topic()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.set_sendupdate_topic | ( | self, | |
| topic | |||
| ) |
@param topic: The new topic to be set as the hand subscribing topic Set the library to publish to a new topic
Definition at line 263 of file shadowhand_ros.py.
◆ set_shadowhand_data_topic()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.set_shadowhand_data_topic | ( | self, | |
| topic | |||
| ) |
@param topic: The new topic to be set as the hand publishing topic Set the library to listen to a new topic
Definition at line 255 of file shadowhand_ros.py.
◆ valueof()
| def sr_hand.shadowhand_ros.ShadowHand_ROS.valueof | ( | self, | |
| jointName | |||
| ) |
@param jointName: Name of the joint to read the value @return: 'NaN' if the value is not correct, the actual position of the joint else
Definition at line 344 of file shadowhand_ros.py.
Member Data Documentation
◆ allJoints
| sr_hand.shadowhand_ros.ShadowHand_ROS.allJoints |
Definition at line 57 of file shadowhand_ros.py.
◆ armJoints
| sr_hand.shadowhand_ros.ShadowHand_ROS.armJoints |
Definition at line 79 of file shadowhand_ros.py.
◆ cyberglove_pub
| sr_hand.shadowhand_ros.ShadowHand_ROS.cyberglove_pub |
Definition at line 86 of file shadowhand_ros.py.
◆ cyberglove_sub
| sr_hand.shadowhand_ros.ShadowHand_ROS.cyberglove_sub |
Definition at line 87 of file shadowhand_ros.py.
◆ cybergrasp_pub
| sr_hand.shadowhand_ros.ShadowHand_ROS.cybergrasp_pub |
Definition at line 88 of file shadowhand_ros.py.
◆ dict_arm_pos
| sr_hand.shadowhand_ros.ShadowHand_ROS.dict_arm_pos |
Definition at line 97 of file shadowhand_ros.py.
◆ dict_arm_tar
| sr_hand.shadowhand_ros.ShadowHand_ROS.dict_arm_tar |
Definition at line 98 of file shadowhand_ros.py.
◆ dict_ethercat_joints
| sr_hand.shadowhand_ros.ShadowHand_ROS.dict_ethercat_joints |
Definition at line 99 of file shadowhand_ros.py.
◆ dict_pos
| sr_hand.shadowhand_ros.ShadowHand_ROS.dict_pos |
Definition at line 95 of file shadowhand_ros.py.
◆ dict_tar
| sr_hand.shadowhand_ros.ShadowHand_ROS.dict_tar |
Definition at line 96 of file shadowhand_ros.py.
◆ eth_publishers
| sr_hand.shadowhand_ros.ShadowHand_ROS.eth_publishers |
Definition at line 100 of file shadowhand_ros.py.
◆ eth_subscribers
| sr_hand.shadowhand_ros.ShadowHand_ROS.eth_subscribers |
Definition at line 101 of file shadowhand_ros.py.
◆ grasp_interpoler
| sr_hand.shadowhand_ros.ShadowHand_ROS.grasp_interpoler |
Definition at line 122 of file shadowhand_ros.py.
◆ grasp_parser
| sr_hand.shadowhand_ros.ShadowHand_ROS.grasp_parser |
Definition at line 116 of file shadowhand_ros.py.
◆ hand_effort
| sr_hand.shadowhand_ros.ShadowHand_ROS.hand_effort |
Definition at line 136 of file shadowhand_ros.py.
◆ hand_type
| sr_hand.shadowhand_ros.ShadowHand_ROS.hand_type |
Definition at line 133 of file shadowhand_ros.py.
◆ hand_velocity
| sr_hand.shadowhand_ros.ShadowHand_ROS.hand_velocity |
Definition at line 135 of file shadowhand_ros.py.
◆ handJoints
| sr_hand.shadowhand_ros.ShadowHand_ROS.handJoints |
Definition at line 78 of file shadowhand_ros.py.
◆ hasarm
| sr_hand.shadowhand_ros.ShadowHand_ROS.hasarm |
Definition at line 94 of file shadowhand_ros.py.
◆ isFirstMessage
| sr_hand.shadowhand_ros.ShadowHand_ROS.isFirstMessage |
Definition at line 90 of file shadowhand_ros.py.
◆ isFirstMessageArm
| sr_hand.shadowhand_ros.ShadowHand_ROS.isFirstMessageArm |
Definition at line 91 of file shadowhand_ros.py.
◆ isReady
| sr_hand.shadowhand_ros.ShadowHand_ROS.isReady |
Definition at line 92 of file shadowhand_ros.py.
◆ joint_states_listener
| sr_hand.shadowhand_ros.ShadowHand_ROS.joint_states_listener |
Definition at line 139 of file shadowhand_ros.py.
◆ joint_states_lock
| sr_hand.shadowhand_ros.ShadowHand_ROS.joint_states_lock |
Definition at line 105 of file shadowhand_ros.py.
◆ lastArmMsg
| sr_hand.shadowhand_ros.ShadowHand_ROS.lastArmMsg |
Definition at line 85 of file shadowhand_ros.py.
◆ lastMsg
| sr_hand.shadowhand_ros.ShadowHand_ROS.lastMsg |
Definition at line 84 of file shadowhand_ros.py.
◆ liste
| sr_hand.shadowhand_ros.ShadowHand_ROS.liste |
Definition at line 93 of file shadowhand_ros.py.
◆ pub
| sr_hand.shadowhand_ros.ShadowHand_ROS.pub |
Definition at line 123 of file shadowhand_ros.py.
◆ pub_arm
| sr_hand.shadowhand_ros.ShadowHand_ROS.pub_arm |
Definition at line 125 of file shadowhand_ros.py.
◆ rootPath
| sr_hand.shadowhand_ros.ShadowHand_ROS.rootPath |
Definition at line 118 of file shadowhand_ros.py.
◆ sendupdate_lock
| sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate_lock |
Definition at line 103 of file shadowhand_ros.py.
◆ sub
| sr_hand.shadowhand_ros.ShadowHand_ROS.sub |
Definition at line 130 of file shadowhand_ros.py.
◆ sub_arm
| sr_hand.shadowhand_ros.ShadowHand_ROS.sub_arm |
Definition at line 128 of file shadowhand_ros.py.
◆ tactile_receiver
| sr_hand.shadowhand_ros.ShadowHand_ROS.tactile_receiver |
Definition at line 149 of file shadowhand_ros.py.
◆ topic_ending
| sr_hand.shadowhand_ros.ShadowHand_ROS.topic_ending |
Definition at line 109 of file shadowhand_ros.py.
The documentation for this class was generated from the following file: