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A server for manipulating a cart being grasped by the grippers of the pr2. Uses manipulation_transforms to compute gripper poses satisfying incoming goal requests. Goals for the cart pose are specified in the base_footprint frame. manipulation_transforms is used to map this goal to gripper poses in the base_footprint frame, which are then written to the goal topics for teleop_controllers (make sure to specify base_footprint as the frame_id rather than torso_lift_link). Accepts goals as PoseStamped messages, and issues PoseStamped messages to the arms.
Definition at line 51 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::__init__ | ( | self, | ||
tf_object_name | ||||
) |
tf_object_name,: | if non-empty, attempt to lookup object initial pose on tf with given frame name, and re-initialize manipulation_transforms |
Definition at line 73 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_active_cb | ( | self, | ||
msg | ||||
) | [private] |
Definition at line 139 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_check_cart_pose | ( | self, | ||
pose | ||||
) | [private] |
Returns true if pose is reachable given workspace constraints of cart
Definition at line 470 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_fake_twist_controller | ( | self, | ||
r = 20 , |
||||
recovery_horizon = 5 | ||||
) | [private] |
Simulates the twist applied to the object, and updates the gripper poses accordingly.
Definition at line 240 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_fake_twist_goal_cb | ( | self, | ||
msg | ||||
) | [private] |
An alternative callback for twist messages that spawns an internal controller to simulate the object twist action using pose commands
Definition at line 199 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_initialize_poses | ( | self | ) | [private] |
Definition at line 176 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_initialize_ros_coms | ( | self | ) | [private] |
Definition at line 151 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_l_arm_err_cb | ( | self, | ||
twist | ||||
) | [private] |
Definition at line 226 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_pose_command_action | ( | self, | ||
r_desired, | ||||
l_desired | ||||
) | [private] |
Send the target effector poses to the arm control topics Assumes that self._pose_resp is up-to-date
Definition at line 311 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_posture_loop | ( | self, | ||
r_posture, | ||||
l_posture | ||||
) | [private] |
Send updates to the posture topic every ROS second
Definition at line 232 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::_r_arm_err_cb | ( | self, | ||
twist | ||||
) | [private] |
Definition at line 220 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::euler_list_to_pose_msg | ( | self, | ||
euler_pose | ||||
) |
convert to pose represented as a list [[vector],[euler angles]] to a Pose msg
Definition at line 392 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::get_l_drift_twist | ( | self | ) |
Uses pose call to solver to compute error at left gripper, and returns as twist
Definition at line 435 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::get_rel_pose | ( | self, | ||
p1, | ||||
p2 | ||||
) |
Compute relative pose of p2 in frame of p1 (4x4 numpy arrays)
Definition at line 371 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::get_tf_transform | ( | self, | ||
ref_frame, | ||||
target_frame | ||||
) |
An exception-handling method for querying a transform from tf
Definition at line 426 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::get_transform_param | ( | self, | ||
name | ||||
) |
Returns the named transform as a pose tuple Arguments: - `name`: string matching a pose on the param server
Definition at line 331 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::get_twist_SSE | ( | self, | ||
twist | ||||
) |
Definition at line 462 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::interpolate_pose_tup | ( | self, | ||
p1, | ||||
p2, | ||||
blend = 0.5 | ||||
) |
Returns weighted interpolation of two pose tuples ((vector), (quaternion))
Definition at line 414 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::interpolate_twist_tup | ( | self, | ||
t1, | ||||
t2, | ||||
blend = 0.5 | ||||
) |
Returns a weighted average of two twist tuples ((linear), (angular))
Definition at line 420 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::pose_msg_to_euler_list | ( | self, | ||
Pose | ||||
) |
Returns a list representation of Pose [[vector],[euler angles]]
Definition at line 383 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::pose_tup_to_euler_list | ( | self, | ||
position, | ||||
orientation | ||||
) |
Returns a list representation of Pose [[vector],[euler angles]]
Definition at line 375 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::pose_tup_to_matrix | ( | self, | ||
tup | ||||
) |
Returns a numpy 4x4 transform array from a pose provided in a tuple ((vector), (quaternion))
Definition at line 351 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::pose_tup_to_msg | ( | self, | ||
tup | ||||
) |
Returns Pose message assembled from tf query tuple
Definition at line 359 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::set_new_pose | ( | self, | ||
p | ||||
) |
Definition at line 304 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::set_transform_param | ( | self, | ||
name, | ||||
pose_tup | ||||
) |
Sets the provided transform param tuple on the paramater server in "cart format" Arguments: - `pose_tup`: a tuple containing ((trans),(rot)) - `name`: a string to set
Definition at line 342 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::twist_msg_to_tup | ( | self, | ||
msg | ||||
) |
Returns a twist tuple ((linear), (angular)) from parameters in a Twist message
Definition at line 398 of file articulate_cart_server.py.
def articulate_cart_server::articulateCartServer::twist_tup_to_msg | ( | self, | ||
tup | ||||
) |
Returns a Twist message from parameters in a tuple ((linear), (angular))
Definition at line 403 of file articulate_cart_server.py.
Attach to all topics and services.
Definition at line 122 of file articulate_cart_server.py.
Definition at line 125 of file articulate_cart_server.py.
Definition at line 123 of file articulate_cart_server.py.
Definition at line 98 of file articulate_cart_server.py.
Definition at line 97 of file articulate_cart_server.py.
Definition at line 94 of file articulate_cart_server.py.
Load cart workspace constraints from parameter server.
Definition at line 93 of file articulate_cart_server.py.
Definition at line 96 of file articulate_cart_server.py.
Definition at line 95 of file articulate_cart_server.py.
Definition at line 80 of file articulate_cart_server.py.
subscriber for goal topic
Definition at line 153 of file articulate_cart_server.py.
Definition at line 173 of file articulate_cart_server.py.
Definition at line 228 of file articulate_cart_server.py.
tuple articulate_cart_server::articulateCartServer::_l_arm_err_twist = Twist() [static, private] |
Definition at line 67 of file articulate_cart_server.py.
Definition at line 158 of file articulate_cart_server.py.
Definition at line 229 of file articulate_cart_server.py.
int articulate_cart_server::articulateCartServer::_l_arm_SSE = 0 [static, private] |
Definition at line 65 of file articulate_cart_server.py.
Definition at line 171 of file articulate_cart_server.py.
Definition at line 160 of file articulate_cart_server.py.
Definition at line 164 of file articulate_cart_server.py.
Definition at line 90 of file articulate_cart_server.py.
Definition at line 87 of file articulate_cart_server.py.
Definition at line 82 of file articulate_cart_server.py.
Mutex for pose-related members {_cart_pose_tup, _cart_pose_msg, _pose_resp, _twist_req, _cart_pose_euler}.
Definition at line 85 of file articulate_cart_server.py.
Hard-code a set of arm postures.
Definition at line 101 of file articulate_cart_server.py.
Definition at line 172 of file articulate_cart_server.py.
Definition at line 222 of file articulate_cart_server.py.
tuple articulate_cart_server::articulateCartServer::_r_arm_err_twist = Twist() [static, private] |
Definition at line 66 of file articulate_cart_server.py.
publisher for arm cartesian pose/twist controller
Definition at line 157 of file articulate_cart_server.py.
Definition at line 223 of file articulate_cart_server.py.
int articulate_cart_server::articulateCartServer::_r_arm_SSE = 0 [static, private] |
Definition at line 64 of file articulate_cart_server.py.
subscriber for arm state errors
Definition at line 170 of file articulate_cart_server.py.
Definition at line 159 of file articulate_cart_server.py.
Publishers for teleop_controllers' posture topics.
Definition at line 163 of file articulate_cart_server.py.
Definition at line 89 of file articulate_cart_server.py.
Definition at line 74 of file articulate_cart_server.py.
Definition at line 77 of file articulate_cart_server.py.
Definition at line 212 of file articulate_cart_server.py.
float articulate_cart_server::articulateCartServer::errthresh = 0.02 [static] |
Definition at line 68 of file articulate_cart_server.py.
Publisher for when when an invalid pose is received.
Definition at line 167 of file articulate_cart_server.py.