Variables
dictionary	arm_ranges
tuple	client
tuple	cmder = ArmCmder(client, arm_ranges, recovery_client, recovery_positions)
tuple	my_rate = rospy.Rate(1.0)
string	PKG = 'life_test'
	Sends goals to arm to move it in collision free way.
tuple	planning_scene_diff_request = SetPlanningSceneDiffRequest()
tuple	recovery_client
dictionary	recovery_positions
tuple	set_planning_scene_diff_client

Variable Documentation

dictionary collision_free_arm_cmder::arm_ranges

Initial value:

00001 {
00002     'r_shoulder_pan_joint': (-2.0, 0.4),
00003     'r_shoulder_lift_joint': (-0.4, 1.25),
00004     'r_upper_arm_roll_joint': (-3.5, 0.3),
00005     'r_elbow_flex_joint': (-2.0, -0.05) 
00006 }

Definition at line 42 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::client

Initial value:

00001 actionlib.SimpleActionClient('collision_free_arm_trajectory_action_right_arm', 
00002                                           JointTrajectoryAction)

Definition at line 58 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::cmder = ArmCmder(client, arm_ranges, recovery_client, recovery_positions)

Definition at line 81 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::my_rate = rospy.Rate(1.0)

Definition at line 76 of file collision_free_arm_cmder.py.

string collision_free_arm_cmder::PKG = 'life_test'

Sends goals to arm to move it in collision free way.

Author:: Kevin Watts

Definition at line 33 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::planning_scene_diff_request = SetPlanningSceneDiffRequest()

Definition at line 71 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::recovery_client

Initial value:

00001 actionlib.SimpleActionClient('r_arm_controller/joint_trajectory_action',
00002                                                 JointTrajectoryAction)

Definition at line 78 of file collision_free_arm_cmder.py.

dictionary collision_free_arm_cmder::recovery_positions

Initial value:

00001 {
00002     'r_shoulder_pan_joint': -0.8,
00003     'r_shoulder_lift_joint': 0.3,
00004     'r_upper_arm_roll_joint': 0.0,
00005     'r_elbow_flex_joint': -0.2
00006 }

Definition at line 49 of file collision_free_arm_cmder.py.

tuple collision_free_arm_cmder::set_planning_scene_diff_client

Initial value:

00001 rospy.ServiceProxy('environment_server_right_arm/set_planning_scene_diff',
00002                                                         SetPlanningSceneDiff)

Definition at line 67 of file collision_free_arm_cmder.py.

Variables

Variable Documentation