niryo_libraries.tf2_ros.buffer_client.BufferClient

class documentation

class BufferClient(tf2_ros.BufferInterface):

Constructor: BufferClient(ns, check_frequency, timeout_padding)

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Action client-based implementation of BufferInterface.

Method __init__ No summary
Method can_transform Check if a transform from the source frame to the target frame is possible.
Method can_transform_full Check if a transform from the source frame to the target frame is possible (advanced API).
Method lookup_transform Get the transform from the source frame to the target frame.
Method lookup_transform_full Get the transform from the source frame to the target frame using the advanced API.
Method wait_for_server Block until the action server is ready to respond to requests.
Instance Variable client Undocumented
Instance Variable timeout_padding Undocumented
Method __process_goal Undocumented
Method __process_result Undocumented
def __init__(self, ns, check_frequency=None, timeout_padding=rospy.Duration.from_sec(2.0)):
def can_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)):

Check if a transform from the source frame to the target frame is possible.

Parameters
target_frameName of the frame to transform into.
source_frameName of the input frame.
timeThe time at which to get the transform. (0 will get the latest)
timeout(Optional) Time to wait for the target frame to become available.
return_debug_type(Optional) If true, return a tuple representing debug information.
Returns
boolTrue if the transform is possible, false otherwise.
def can_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)):

Check if a transform from the source frame to the target frame is possible (advanced API).

Must be implemented by a subclass of BufferInterface.

Parameters
target_frameName of the frame to transform into.
target_timeThe time to transform to. (0 will get the latest)
source_frameName of the input frame.
source_timeThe time at which source_frame will be evaluated. (0 will get the latest)
fixed_frameName of the frame to consider constant in time.
timeout(Optional) Time to wait for the target frame to become available.
return_debug_type(Optional) If true, return a tuple representing debug information.
Returns
boolTrue if the transform is possible, false otherwise.
def lookup_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)):

Get the transform from the source frame to the target frame.

Parameters
target_frameName of the frame to transform into.
source_frameName of the input frame.
timeThe time at which to get the transform. (0 will get the latest)
timeout(Optional) Time to wait for the target frame to become available.
Returns
geometry_msgs.msg.TransformStampedThe transform between the frames.
def lookup_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)):

Get the transform from the source frame to the target frame using the advanced API.

Parameters
target_frameName of the frame to transform into.
target_timeThe time to transform to. (0 will get the latest)
source_frameName of the input frame.
source_timeThe time at which source_frame will be evaluated. (0 will get the latest)
fixed_frameName of the frame to consider constant in time.
timeout(Optional) Time to wait for the target frame to become available.
Returns
geometry_msgs.msg.TransformStampedThe transform between the frames.
def wait_for_server(self, timeout=rospy.Duration()):

Block until the action server is ready to respond to requests.

Parameters
timeoutTime to wait for the server.
Returns
boolTrue if the server is ready, false otherwise.
client =

Undocumented

timeout_padding =

Undocumented

def __process_goal(self, goal):

Undocumented

def __process_result(self, result):

Undocumented