Gazebo Robot Manager. More...

Public Member Functions
def	__init__
def	logerr
def	loginfo
def	logwarn
def	shutdown
def	spawn_robots
def	spin
Public Attributes
	is_disabled
Private Member Functions
def	_establish_unique_names
def	_extract_robot_types
def	_launch_robot_clients
def	_prepare_rocon_launch_text
def	_send_flip_rules
def	_spawn_simulated_robots
Private Attributes
	_cached_robot_type_locations
	_concert_name
	_gateway_flip_service
	_invalid_robot_managers
	_processes
	_robot_manager
	_robot_types
	_robots
	_temporary_files
	_terminal
	_world_name

Detailed Description

Gazebo Robot Manager.

  This class contains all the robot-independent functionality to launch
  robots in gazebo, create concert clients for each robot, and flip
  necessary information to each concert client, so each robot can truly
  behave as a concert client.

Definition at line 63 of file src/concert_service_gazebo/gazebo_robot_manager.py.

Constructor & Destructor Documentation

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager.__init__	(	self,
		world_name,
		concert_name
	)

:param world_name: Gazebo World name

Definition at line 71 of file src/concert_service_gazebo/gazebo_robot_manager.py.

Member Function Documentation

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager._establish_unique_names	(	self,
		robots
	)	`[private]`

Make sure robot names don't clash with currently spawned robots, or
with other robots in the same list itself. If they do, postfix them
with an incrementing counter.

:param robots list of dicts[]: The parameter file defining robots and
    start locations. For a full description, see
    _spawn_simulated_robots().
:return [dict]: uniquified names for the concert clients.

Definition at line 175 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager._extract_robot_types ( self ) [private]

Definition at line 98 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager._launch_robot_clients	(	self,
		robots
	)	`[private]`

Spawn concert clients for given named robot.

:param robot_names str[]: Names of all robots.

Definition at line 133 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager._prepare_rocon_launch_text	(	self,
		robots
	)	`[private]`

Definition at line 160 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager._send_flip_rules	(	self,
		robots,
		cancel
	)	`[private]`

Flip rules from Gazebo to the robot's concert client.

:param robot_names str[]: Names of robots to whom information needs to
    be flipped.
:param cancel bool: Cancel existing flips. Used during shutdown.

Definition at line 202 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager._spawn_simulated_robots	(	self,
		robots,
		robot_managers
	)	`[private]`

Names and locations of robots to be spawned, read from a parameter file.

:param robots list of dicts[]: The parameter file.
The parameter file should read into a list of dictionaries, where each
dict contains a "name" string, and a "location" tuple. For example:
    [{'name': 'kobuki', 'location': [0.0, 0.0, 0.0]},
     {'name': 'guimul', 'location': [0.0, 2.0, 0.0]}]
For a full definition of the location vector, see
RobotManager.spawn_robot().

Definition at line 111 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager.logerr	(	self,
		msg
	)

Definition at line 279 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager.loginfo	(	self,
		msg
	)

Definition at line 276 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager.logwarn	(	self,
		msg
	)

Definition at line 282 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager.shutdown ( self )

  - Send unflip requests.
  - Cleanup robots in gazebo.
  - Shutdown spawned terminals.

Definition at line 254 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager.spawn_robots	(	self,
		robots
	)

Ensure all robots have existing names, spawn robots in gazebo, launch
concert clients, and flip necessary information from gazebo to each
concert client.

:param robots list of dicts[]: The parameter file defining robots, type and
    start locations. For a full description, see
    _spawn_simulated_robots().
:type robots: [{name: str, type: str, location: (x,y,theta)}]

Definition at line 229 of file src/concert_service_gazebo/gazebo_robot_manager.py.

def concert_service_gazebo.gazebo_robot_manager.GazeboRobotManager.spin ( self )

Definition at line 246 of file src/concert_service_gazebo/gazebo_robot_manager.py.