niryo_libraries.niryo_robot_arm_commander.trajectories_executor.TrajectoriesExecutor

class documentation

class TrajectoriesExecutor:

Constructor: TrajectoriesExecutor(arm_move_group)

View In Hierarchy

Object which execute the Arm trajectories via MoveIt

Static Method display_traj Undocumented
Static Method filtering_plan Undocumented
Method __init__ Undocumented
Method cancel_goal Undocumented
Method compute_and_execute_cartesian_plan Compute a cartesian plan according to list_poses and then, execute it The robot will follow a straight line between each points If the plan is not validate, raise ArmCommanderException :param list_poses: :param velocity_factor: :param acceleration_factor: :return: status, message...
Method compute_and_execute_plan_to_target Firstly try to compute the plan to the set target. If fails a first time, will try ComputePMaxTries times to stop the arm and recompute the plan Then, execute the plan :return: status, message
Method compute_cartesian_plan Compute cartesian plan from a list of poses As 2 poses cannot be the same, the first operation is to filter list_poses to be sure this condition is met :param list_poses: list of Pose Object :param compute_max_tries: number of tries to compute the path, if None the default value will be taken :return: Computed plan : RobotTrajectory object...
Method execute_joint_trajectory No summary
Method execute_plan Execute the plan given Firstly, calculate a timeout which is : 1.5 times the estimated time of the plan Then send execute command to MoveIt and wait until the execution finished or the timeout happens :param plan: Computed plan :type plan: RobotTrajectory :return: CommandStatus, message...
Method link_plans Undocumented
Method plan Undocumented
Method retime_plan Take a plan and retime it
Method stop_arm Undocumented
Method stop_current_plan Undocumented
Static Method __get_plan_time Extract duration from a plan. If it cannot be done, raise ArmCommanderException :param plan: plan given by MoveIt :type plan: RobotTrajectory :return: duration in seconds
Method __callback_collision_detected Undocumented
Method __callback_current_feedback Undocumented
Method __callback_goal_result Function called when the action is finished :param msg: :return:
Method __callback_new_goal Happens when a new goal is published. Set the current goal :param msg: Object containing info on the new goal :type msg: FollowJointTrajectoryActionGoal :return: None
Method __get_computed_plan Get computed plan from MoveIt :return: the computed plan if MoveIt succeed else None
Method __get_plan_start_robot_state Undocumented
Method __reset_controller Undocumented
Method __set_learning_mode Activate or deactivate the learning mode using the ros service /niryo_robot/learning_mode/activate
Method __set_position_hold_mode Stop the Robot where it is :return: None
Instance Variable __arm Undocumented
Instance Variable __cancel_goal Undocumented
Instance Variable __cartesian_path_eef_steps Undocumented
Instance Variable __cartesian_path_jump_threshold Undocumented
Instance Variable __collision_detected Undocumented
Instance Variable __collision_detected_publisher Undocumented
Instance Variable __compute_plan_max_tries Undocumented
Instance Variable __current_feedback Undocumented
Instance Variable __current_goal_id Undocumented
Instance Variable __current_goal_result Undocumented
Instance Variable __error_tolerance Undocumented
Instance Variable __hardware_version Undocumented
Instance Variable __joint_trajectory_publisher Undocumented
Instance Variable __joints_name Undocumented
Instance Variable __reset_controller_service Undocumented
Instance Variable __traj_finished_event Undocumented
Instance Variable __traj_goal_pub Undocumented
Instance Variable __trajectory_minimum_timeout Undocumented
@staticmethod
def display_traj(point_list, id_=1):

Undocumented

@staticmethod
def filtering_plan(plan):

Undocumented

def __init__(self, arm_move_group):

Undocumented

def cancel_goal(self):

Undocumented

def compute_and_execute_cartesian_plan(self, list_poses, velocity_factor=1.0, acceleration_factor=1.0):

Compute a cartesian plan according to list_poses and then, execute it The robot will follow a straight line between each points If the plan is not validate, raise ArmCommanderException :param list_poses: :param velocity_factor: :param acceleration_factor: :return: status, message

def compute_and_execute_plan_to_target(self):

Firstly try to compute the plan to the set target. If fails a first time, will try ComputePMaxTries times to stop the arm and recompute the plan Then, execute the plan :return: status, message

def compute_cartesian_plan(self, list_poses, compute_max_tries=None):

Compute cartesian plan from a list of poses As 2 poses cannot be the same, the first operation is to filter list_poses to be sure this condition is met :param list_poses: list of Pose Object :param compute_max_tries: number of tries to compute the path, if None the default value will be taken :return: Computed plan : RobotTrajectory object

def execute_joint_trajectory(self, joint_trajectory):
Parameters
joint_trajectory:JointTrajectory
Returns
def execute_plan(self, plan):

Execute the plan given Firstly, calculate a timeout which is : 1.5 times the estimated time of the plan Then send execute command to MoveIt and wait until the execution finished or the timeout happens :param plan: Computed plan :type plan: RobotTrajectory :return: CommandStatus, message

def link_plans(self, *plans):

Undocumented

def plan(self):

Undocumented

def retime_plan(self, plan, velocity_scaling_factor=1.0, acceleration_scaling_factor=1.0, optimize=False):

Take a plan and retime it

def stop_arm(self):

Undocumented

def stop_current_plan(self):

Undocumented

@staticmethod
def __get_plan_time(plan):

Extract duration from a plan. If it cannot be done, raise ArmCommanderException :param plan: plan given by MoveIt :type plan: RobotTrajectory :return: duration in seconds

def __callback_collision_detected(self, msg):

Undocumented

def __callback_current_feedback(self, msg):

Undocumented

def __callback_goal_result(self, msg):

Function called when the action is finished :param msg: :return:

def __callback_new_goal(self, msg):

Happens when a new goal is published. Set the current goal :param msg: Object containing info on the new goal :type msg: FollowJointTrajectoryActionGoal :return: None

def __get_computed_plan(self):

Get computed plan from MoveIt :return: the computed plan if MoveIt succeed else None

def __get_plan_start_robot_state(self, plan):

Undocumented

def __reset_controller(self):

Undocumented

def __set_learning_mode(self, set_bool):

Activate or deactivate the learning mode using the ros service /niryo_robot/learning_mode/activate

Parameters
set_bool:bool
Returns
boolSuccess if the learning mode was properly activate or deactivate, False if not
def __set_position_hold_mode(self):

Stop the Robot where it is :return: None

__arm =

Undocumented

__cancel_goal: bool =

Undocumented

__cartesian_path_eef_steps =

Undocumented

__cartesian_path_jump_threshold =

Undocumented

__collision_detected =

Undocumented

__collision_detected_publisher =

Undocumented

__compute_plan_max_tries =

Undocumented

__current_feedback =

Undocumented

__current_goal_id =

Undocumented

__current_goal_result =

Undocumented

__error_tolerance =

Undocumented

__hardware_version =

Undocumented

__joint_trajectory_publisher =

Undocumented

__joints_name =

Undocumented

__reset_controller_service =

Undocumented

__traj_finished_event =

Undocumented

__traj_goal_pub =

Undocumented

__trajectory_minimum_timeout =

Undocumented