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motion_stack.api.ros2 package

This module exposes APIs that use the ros2 interface (as opposed to pure python API that may lack interface).

Submodules

motion_stack.api.ros2.ik_api module

ROS2 API to send/receive end-effector IK command / FK state to lvl2 and syncronise multiple limbs.

class motion_stack.api.ros2.ik_api.IkHandler(node, limb_number)

Bases: object

ROS2 API to send/receive end-effector command/state to lvl2.

One instance is limited to a single limb.

NOTE

To safely execute ik movement to a target, do not directly use this class, but use IkSyncerRos.

  • Parameters:
    • node (Node) – Spinning node.
    • limb_number (int) – Limb number on which to interface with the ik.

limb_number

Type:    int

Limb number

new_tip_cbk

Type:    List[Callable[[‘IkHandler’]]]

Callback executed when the end-effector sensor updates. Argument is this object instance.

ready

Type:    Future

Future becoming done when sensor data is available for the end-effector.

property ee_pose

End effector pose

ready_up()

NOTE

self.ready will be canceled and re-created.

  • Returns: Future done the next time end effector pose is received
  • Return type: Future

send(target_pose)

Sends ik target command to lvl2.

  • Parameters: target_pose (Pose)

class motion_stack.api.ros2.ik_api.IkSyncerRos(ik_handlers, interpolation_delta=XyzQuat(xyz=40, quat=0.06981317007977318), on_target_delta=XyzQuat(xyz=40, quat=0.06981317007977318))

Bases: IkSyncer

Controls and syncronises several end-effector, safely executing trajectory to a target.

IMPORTANT

This class is a ROS2 implementation of the base class: api.ik_syncer.JointSyncer. Refere to it for documentation.

  • Parameters:
    • ik_handlers (List [IkHandler ]) – ROS2 objects handling ik communications of several limbs.
    • interpolation_delta (XyzQuat *[*float , float ])
    • on_target_delta (XyzQuat *[*float , float ])

execute()

Executes one step of the task/trajectory.

This must be called frequently in a ros Timer or something else of your liking.

property sensor

IMPORTANT

This class is a ROS2 implementation of the base class: api.ik_syncer.JointSyncer. Refere to it for documentation.

  • Return type: Dict[int, Pose]

send_to_lvl2(ee_targets)

IMPORTANT

This class is a ROS2 implementation of the base class: api.ik_syncer.JointSyncer. Refere to it for documentation.

  • Parameters: ee_targets (Dict *[*int , Pose ])

property FutureT

IMPORTANT

This class is a ROS2 implementation of the base class: api.ik_syncer.JointSyncer. Refere to it for documentation.

  • Return type: Type[Future]

motion_stack.api.ros2.joint_api module

ROS2 API to send/receive joint command/state to lvl1 and syncronise multiple joints.

class motion_stack.api.ros2.joint_api.JointHandler(node, limb_number)

Bases: object

ROS2 API to send/receive joint command/state to lvl1.

One instance is limited to a single limb.

NOTE

To safely execute joint movement to a target, do not directly use this class, but use JointSyncerRos.

  • Parameters:
    • node (Node) – Spinning node.
    • limb_number (int) – Limb number on which to interface with the joints.

tracked

Type:    Set[str]

Joint available on the limb

limb_number

Type:    int

Limb number

new_state_cbk

Type:    List[Callable[[‘JointHandler’]]]

Callback executed when the state sensor updates. Argument is this object instance.

ready

Type:    Future

Future becoming done when sensor data is available on all tracked joints

property states

Accumulated joint state (sensor).

ready_up(tracked=None)

Starts timer looking for available joints and their data.

  • Parameters: tracked (Set *[*str ] | None) – Joints required to be considered ready.
  • Returns:
    • [0] Future done when all available joints have data.
    • [1] Future done when the leg replies with the names of the available joints
  • Return type: Tuple[Future, Future]

send(states)

Sends joint command to lvl1.

  • Parameters: states (List [JState ])

class motion_stack.api.ros2.joint_api.JointSyncerRos(joint_handlers, interpolation_delta=0.08726646259971647, on_target_delta=0.06981317007977318)

Bases: JointSyncer

Controls and syncronises several joints, safely executing trajectory to a target.

IMPORTANT

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

  • Parameters:
    • joint_handlers (List [JointHandler ]) – ROS2 objects handling joint communications of several limbs.
    • interpolation_delta (float)
    • on_target_delta (float)

execute()

Executes one step of the task/trajectory.

This must be called frequently in a ros Timer or something else of your liking.

property sensor

IMPORTANT

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

  • Return type: Dict[str, JState]

send_to_lvl1(states)

IMPORTANT

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

  • Parameters: states (List [JState ])

speed_safe(target, delta_time=None)

Overloaded to automatically create the delta_time function.

IMPORTANT

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

  • Return type: Future
  • Parameters:
    • target (Dict *[*str , float ])
    • delta_time (float | Callable [ [ ] , float ] | None)

property FutureT

IMPORTANT

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

  • Return type: Type[Future]

motion_stack.api.ros2.offsetter module

motion_stack.api.ros2.offsetter.setup_lvl0_offsetter(node, angle_recovery_path=None, offset_path=None)

  • Return type: Tuple[Timer, Service]
  • Parameters:
    • node (Lvl1Node)
    • angle_recovery_path (str | None)
    • offset_path (str | None)

motion_stack.api.ros2.state_to_topic module

Provides StatesToTopics, to be injected in a Node. see the class docstring for details

motion_stack.api.ros2.state_to_topic.default_joint_to_topic_name(attribute, joint_name)

Return the topic name associated with an attribute and joint.

NOTE

This is the default implementation. You might want to make your own.

  • Parameters:
    • attribute (str) – position, velocity or effort
    • joint_name (str) – name of the joint
  • Returns: name of the associated topic
  • Return type: str

class motion_stack.api.ros2.state_to_topic.StatesToTopic(ros_node, joint_to_topic_name=<function 'default_joint_to_topic_name'>)

Bases: object

Publishes joint states onto individual topics.

Features: : - Publishes a list of JState or a JointStates onto individual Float64 topics

  • Provide joint_to_topic_name with the the naming convention you need
  • Lazily creates the topics as they are published : - topics will not be created at startup, but the first time they are used
    • publish a state with np.nan instead of None to force the creation.
  • Parameters:

classmethod setup_lvl0_command(lvl1_ros_node, joint_to_topic_name=<function 'default_joint_to_topic_name'>)

All joints will have their own individual float topic.

Applies state_to_topic.StatesToTopic to outgoing motor commands of lvl1.

  • Parameters:
    • lvl1_ros_node (Lvl1Node) – ROS2 node running lvl1
    • joint_to_topic_name (Callable [ *[*str , str ] , str ]) – Function returning the topic name associated with an attribute and joint.
  • Return type: StatesToTopic

publish(states)

publishes a list of JState over float topics (lazily created).

  • Parameters: states (Iterable [JState ] | JointState)