Public Member Functions
def	__init__
def	go_init
def	go_offpose
def	goInitial
def	set_joint_angles_deg
def	set_joint_angles_rad
def	set_pose
Public Attributes
	MG_BOTHARMS
	MG_HEAD
	MG_LARM
	MG_RARM
	MG_TORSO
	MG_UPPERBODY
Private Member Functions
def	_init_action_clients
def	_init_moveit_commanders
def	_to_rad_list
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 283 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 240 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 310 of file ros_client.py.

Member Data Documentation

hironx_ros_bridge::ros_client.ROS_Client::_aclient_head [private]

Definition at line 151 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_aclient_larm [private]

Definition at line 151 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_aclient_rarm [private]

Definition at line 151 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_aclient_torso [private]

Definition at line 151 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_goal_head [private]

Definition at line 151 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_goal_larm [private]

Definition at line 151 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_goal_rarm [private]

Definition at line 151 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_goal_torso [private]

Definition at line 151 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_movegr_botharms_ref_frame [private]

Definition at line 122 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_movegr_larm_ref_frame [private]

Definition at line 122 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::_movegr_rarm_ref_frame [private]

Definition at line 122 of file ros_client.py.

tuple hironx_ros_bridge::ros_client.ROS_Client::_MSG_NO_MOVEGROUP_FOUND [static, private]

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 122 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::MG_HEAD

Definition at line 122 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::MG_LARM

Definition at line 122 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::MG_RARM

Definition at line 122 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::MG_TORSO

Definition at line 122 of file ros_client.py.

hironx_ros_bridge::ros_client.ROS_Client::MG_UPPERBODY