agimus_sot.ros_interface.RosInterface Class Reference

Ros interface for supervisor.Supervisor. More...

Inheritance diagram for agimus_sot.ros_interface.RosInterface:
[legend]
Collaboration diagram for agimus_sot.ros_interface.RosInterface:
[legend]

Public Member Functions

def __init__ (self, supervisor=None)
 
def runCommand (self, cmd)
 
def runPreAction (self, req)
 
def plugSot (self, req)
 
def runPostAction (self, req)
 
def setupHppJoints (self, prefix="")
 
def clearQueues (self, req)
 
def readQueue (self, req)
 
def waitForMinQueueSize (self, req)
 
def stopReadingQueue (self, req)
 
def publishState (self, req)
 
def requestHppTopics (self, req)
 
def setBasePose (self, req)
 

Public Attributes

 supervisor
 

Detailed Description

Ros interface for supervisor.Supervisor.

There are two ways of communicating with SoT.

  • use this class directly inside the python interpreter in SoT,
  • use this class in a separate ROS node that communicates with SoT via the service "/run_command".

The first method can be useful for debugging. However, on the robot, only the second method should be used.

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ clearQueues()

◆ plugSot()

def agimus_sot.ros_interface.RosInterface.plugSot (   self,
  req 
)

◆ publishState()

◆ readQueue()

def agimus_sot.ros_interface.RosInterface.readQueue (   self,
  req 
)

◆ requestHppTopics()

◆ runCommand()

◆ runPostAction()

def agimus_sot.ros_interface.RosInterface.runPostAction (   self,
  req 
)

◆ runPreAction()

def agimus_sot.ros_interface.RosInterface.runPreAction (   self,
  req 
)

◆ setBasePose()

◆ setupHppJoints()

def agimus_sot.ros_interface.RosInterface.setupHppJoints (   self,
  prefix = "" 
)

◆ stopReadingQueue()

◆ waitForMinQueueSize()

def agimus_sot.ros_interface.RosInterface.waitForMinQueueSize (   self,
  req 
)

Member Data Documentation

◆ supervisor