hironx_ros_bridge.ros_client.ROS_Client Class Reference

Inheritance diagram for hironx_ros_bridge.ros_client.ROS_Client:

Public Member Functions
def	__init__ (self, jointgroups=None)
def	go_init (self, init_pose_type=0, task_duration=7.0)
def	go_offpose (self, task_duration=7.0)
def	goInitial (self, init_pose_type=0, task_duration=7.0)
def	set_joint_angles_deg (self, groupname, positions_deg, duration=7.0, wait=False)
def	set_joint_angles_rad (self, groupname, positions_radian, duration=7.0, wait=False)
def	set_pose (self, joint_group, position, rpy=None, task_duration=7.0, do_wait=True, ref_frame_name=None)

Public Attributes
	MG_BOTHARMS
	MG_HEAD
	MG_LARM
	MG_RARM
	MG_TORSO
	MG_UPPERBODY

Private Member Functions
def	_init_action_clients (self)
def	_init_moveit_commanders (self)
def	_to_rad_list (self, list_degree)

Private Attributes
	_aclient_head
	_aclient_larm
	_aclient_rarm
	_aclient_torso
	_goal_head
	_goal_larm
	_goal_rarm
	_goal_torso
	_movegr_botharms_ref_frame
	_movegr_larm_ref_frame
	_movegr_rarm_ref_frame

Static Private Attributes
tuple	_MSG_NO_MOVEGROUP_FOUND

Detailed Description

This class holds methods that are specific to Kawada Industries' dual-arm
robot called Hiro, via ROS.

@since: December 2014: Now this class is replacing the default programming interface
        with HIRONX (hironx_client.py).
@since: July 2014: this class is only intended to be used through HIRONX
  class.

Definition at line 62 of file ros_client.py.

Constructor & Destructor Documentation

def hironx_ros_bridge.ros_client.ROS_Client.__init__	(		self,
			jointgroups = None
	)

@param jointgroups [str]: Deprecated. No need after version 1.1.4 onward.

Definition at line 77 of file ros_client.py.

Member Function Documentation

def hironx_ros_bridge.ros_client.ROS_Client._init_action_clients (   self )

private

This is only needed for accessing Actionlib clients directly, which
is no longer needed for this class now that it inherits
RobotCommander from MoveIt!. Still this line is kept for the methods
deprecated but remain for backward compatibility.

Definition at line 146 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client._init_moveit_commanders (   self )

private

@raise RuntimeError: When MoveGroup is not running.

Definition at line 120 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client._to_rad_list (   self,   list_degree  )

private

@TODO Needs to be replaced by something more common, or at least moved
      somewhere more common.

@type list_degree: [float]
@param list_degree: A list length of the number of joints.

Definition at line 295 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.go_init	(		self,
			init_pose_type = 0,
			task_duration = 7.0
	)

Change the posture of the entire robot to the pre-defined init pose.

This method is equivalent to
hironx_ros_bridge.hironx_client.HIRONX.goInitial method (https://github.com/start-jsk/rtmros_hironx/blob/83c3ff0ad2aabd8525631b08276d33b09c98b2bf/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L199),
with an addition of utilizing MoveIt!, which means e.g. if there is
possible perceived collision robots will take the path MoveIt! computes
with collision avoidance taken into account.

@type task_duration: float
@param init_pose_type:
       0: default init pose (specified as _InitialPose)
       1: factory init pose (specified as _InitialPose_Factory)

Definition at line 196 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.go_offpose	(		self,
			task_duration = 7.0
	)

Definition at line 222 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.goInitial	(		self,
			init_pose_type = 0,
			task_duration = 7.0
	)

This method internally calls self.go_init.

This method exists solely because of compatibility purpose with
hironx_ros_bridge.hironx_client.HIRONX.goInitial, which
holds a method "goInitial".

@param init_pose_type:
       0: default init pose (specified as _InitialPose)
       1: factory init pose (specified as _InitialPose_Factory)

Definition at line 226 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.set_joint_angles_deg	(		self,
			groupname,
			positions_deg,
			duration = 7.0,
			wait = False
	)

@type groupname: str
@param groupname: This should exist in self.groupnames.
@type positions_deg: [float]
@type duration: float
@type wait: bool

Definition at line 284 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.set_joint_angles_rad	(		self,
			groupname,
			positions_radian,
			duration = 7.0,
			wait = False
	)

@deprecated: Use MoveitCommander.set_joint_value_target instead.

@type groupname: str
@param groupname: This should exist in self.groupnames.
@type positions_radian: [float]
@type duration: float
@type wait: bool

Definition at line 241 of file ros_client.py.

def hironx_ros_bridge.ros_client.ROS_Client.set_pose	(		self,
			joint_group,
			position,
			rpy = None,
			task_duration = 7.0,
			do_wait = True,
			ref_frame_name = None
	)

@deprecated: Use set_pose_target (from MoveGroupCommander) directly.
Accept pose defined by position and RPY in Cartesian format.

@type joint_group: str
@type position: [float]
@param position: x, y, z.
@type rpy: [float]
@param rpy: If None, keep the current orientation by using
    MoveGroupCommander.set_position_target. See:
     'http://moveit.ros.org/doxygen/' +
     'classmoveit__commander_1_1move__group_1_1' +
     'MoveGroupCommander.html#acfe2220fd85eeb0a971c51353e437753'
@param ref_frame_name: reference frame for target pose, i.e. "LARM_JOINT5_Link".

Definition at line 311 of file ros_client.py.

Member Data Documentation

hironx_ros_bridge.ros_client.ROS_Client._aclient_head

private

Definition at line 157 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._aclient_larm

private

Definition at line 153 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._aclient_rarm

private

Definition at line 155 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._aclient_torso

private

Definition at line 159 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._goal_head

private

Definition at line 181 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._goal_larm

private

Definition at line 163 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._goal_rarm

private

Definition at line 172 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._goal_torso

private

Definition at line 186 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._movegr_botharms_ref_frame

private

Definition at line 142 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._movegr_larm_ref_frame

private

Definition at line 140 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client._movegr_rarm_ref_frame

private

Definition at line 141 of file ros_client.py.

tuple hironx_ros_bridge.ros_client.ROS_Client._MSG_NO_MOVEGROUP_FOUND

staticprivate

Initial value:

= ('\nMake sure you\'ve launched MoveGroup ' +
                               '(e.g. by launching ' +
                               'moveit_planning_execution.launch)')

Definition at line 73 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client.MG_BOTHARMS

Definition at line 128 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client.MG_HEAD

Definition at line 129 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client.MG_LARM

Definition at line 126 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client.MG_RARM

Definition at line 127 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client.MG_TORSO

Definition at line 130 of file ros_client.py.

hironx_ros_bridge.ros_client.ROS_Client.MG_UPPERBODY

Definition at line 131 of file ros_client.py.

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The documentation for this class was generated from the following file:

• ros_client.py