niryo_libraries.niryo_robot_arm_commander.jog_controller.JogController

class documentation

class JogController:

Constructor: JogController(arm_state)

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Undocumented

Static Method can_be_enable Check if Jog Controller can be enabled Basically, it checks if commander is running
Method __init__ Undocumented
Method disable Disable jog controller
Method enable Enable jog controller if possible
Method get_target_values Undocumented
Method is_enabled Return the if Jog Controller is enable
Method set_target_values Undocumented
Method __callback_enable_jog Undocumented
Method __callback_jog_commander Undocumented
Method __callback_joint_controller_state Undocumented
Method __callback_send_jog_command_ik Undocumented
Method __callback_send_jog_joints_command Undocumented
Method __check_before_use_jog Check if the calibration has already been done on the robot and if the learning mode is off.
Method __check_joint_validity_moveit Check target joint validity (no collision) with MoveIt. :return: The target joint validity in a boolean, and the two links colliding if available
Method __limit_params_joints Undocumented
Method __publish_jog_error Undocumented
Method __validate_ik_joints Check if the list of joints values received from the inverse kinematic is usable. If a joint is bigger than 0.5 radian the list becomes None and a warning appears
Method __validate_params_joints Undocumented
Method __validate_params_pose Undocumented
Method _check_for_disable Undocumented
Method _get_new_joints_w_ik Undocumented
Method _publish_jog_enabled Undocumented
Method _publish_joint_trajectory Undocumented
Method _reset_last_pub Undocumented
Instance Variable __arm Undocumented
Instance Variable __arm_state Undocumented
Instance Variable __collision_detected Undocumented
Instance Variable __error_tolerance_joint Undocumented
Instance Variable __jog_errors_cpt Undocumented
Instance Variable __joints_rotation_max Undocumented
Instance Variable __kinematics_handler Undocumented
Instance Variable __parameters_validator Undocumented
Instance Variable __pose_rotation_max Undocumented
Instance Variable __pose_translation_max Undocumented
Instance Variable __time_without_jog_limit Undocumented
Instance Variable _check_disable_jog_timer Undocumented
Instance Variable _current_jogged_joints Undocumented
Instance Variable _enabled Undocumented
Instance Variable _jog_command_ik Undocumented
Instance Variable _jog_enabled_publisher Undocumented
Instance Variable _jog_errors_publisher Undocumented
Instance Variable _joint_trajectory_publisher Undocumented
Instance Variable _last_command_timer Undocumented
Instance Variable _last_robot_state_published Undocumented
Instance Variable _last_shift_values_cmd Undocumented
Instance Variable _last_target_values Undocumented
Instance Variable _new_robot_state Undocumented
Instance Variable _publisher_joint_trajectory_timer Undocumented
Instance Variable _shift_mode Undocumented
Instance Variable _target_lock Undocumented
Instance Variable _target_values Undocumented
Instance Variable _timer_rate Undocumented
@staticmethod
def can_be_enable():

Check if Jog Controller can be enabled Basically, it checks if commander is running

Returns
boolBool indicating if Controller can be enabled
def __init__(self, arm_state):

Undocumented

def disable(self):

Disable jog controller

Returns
(GoalStatus, str)status, message
def enable(self):

Enable jog controller if possible

Returns
(GoalStatus, str)status, message
def get_target_values(self):

Undocumented

def is_enabled(self):

Return the if Jog Controller is enable

Returns
boolTrue if enable else False
def set_target_values(self, target_values):

Undocumented

def __callback_enable_jog(self, req):

Undocumented

def __callback_jog_commander(self, msg):

Undocumented

def __callback_joint_controller_state(self, msg):

Undocumented

def __callback_send_jog_command_ik(self, msg):

Undocumented

def __callback_send_jog_joints_command(self, msg):

Undocumented

def __check_before_use_jog(self):

Check if the calibration has already been done on the robot and if the learning mode is off.

Returns
NoneNone
def __check_joint_validity_moveit(self, joints):

Check target joint validity (no collision) with MoveIt. :return: The target joint validity in a boolean, and the two links colliding if available

def __limit_params_joints(self, joints):

Undocumented

def __publish_jog_error(self, status, message):

Undocumented

def __validate_ik_joints(self, joints):

Check if the list of joints values received from the inverse kinematic is usable. If a joint is bigger than 0.5 radian the list becomes None and a warning appears

Returns
listList with the values from the inverse kinematic or None if the movement is too complicated
def __validate_params_joints(self, joints):

Undocumented

def __validate_params_pose(self, new_robot_state):

Undocumented

def _check_for_disable(self, *_):

Undocumented

def _get_new_joints_w_ik(self, shift_command):

Undocumented

def _publish_jog_enabled(self, *_):

Undocumented

def _publish_joint_trajectory(self, *_):

Undocumented

def _reset_last_pub(self):

Undocumented

__arm =

Undocumented

__arm_state =

Undocumented

__collision_detected: bool =

Undocumented

__error_tolerance_joint =

Undocumented

__jog_errors_cpt: int =

Undocumented

__joints_rotation_max =

Undocumented

__kinematics_handler =

Undocumented

__parameters_validator =

Undocumented

__pose_rotation_max =

Undocumented

__pose_translation_max =

Undocumented

__time_without_jog_limit =

Undocumented

_check_disable_jog_timer =

Undocumented

_current_jogged_joints =

Undocumented

_enabled: bool =

Undocumented

_jog_command_ik =

Undocumented

_jog_enabled_publisher =

Undocumented

_jog_errors_publisher =

Undocumented

_joint_trajectory_publisher =

Undocumented

_last_command_timer =

Undocumented

_last_robot_state_published =

Undocumented

_last_shift_values_cmd =

Undocumented

_last_target_values =

Undocumented

_new_robot_state =

Undocumented

_publisher_joint_trajectory_timer =

Undocumented

_shift_mode =

Undocumented

_target_lock =

Undocumented

_target_values =

Undocumented

_timer_rate =

Undocumented