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(hero): improve interface for moving_to_inspect_pose #1366

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(hero): improve interface for moving_to_inspect_pose #1366

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11 changes: 8 additions & 3 deletions hero_skills/src/hero_skills/hero.py
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Original file line number Diff line number Diff line change
@@ -1,9 +1,12 @@
# System
from typing import Union
import math

# Third party
import PyKDL as kdl
import rospy

from pykdl_ros import VectorStamped
# TU/e Robotics
from robot_skills import api, base, ebutton, head, ears, lights, perception, picovoice, robot, speech, \
topological_planner, torso, world_model_ed
Expand Down Expand Up @@ -94,15 +97,17 @@ def __init__(self, connection_timeout=robot.DEFAULT_CONNECTION_TIMEOUT):

self.configure()

def move_to_inspect_pose(self, inspect_target):
def move_to_inspect_pose(self, inspect_target: Union[kdl.Vector, VectorStamped]):
"""
This poses the robot for an inspect.

:param inspect_target: kdl.Frame with the pose of the entity to be inspected.
:return: boolean, false if something went wrong.
"""
if isinstance(inspect_target, kdl.Vector):
inspect_target = VectorStamped(inspect_target, rospy.Time.now(), "map")
# calculate the arm_lift_link which must be sent
z_head = inspect_target.z() + self.z_over
z_head = inspect_target.vector.z() + self.z_over

# check whether moving the arm is necessary
if z_head < 1.3:
Expand All @@ -121,7 +126,7 @@ def move_to_inspect_pose(self, inspect_target):
# noinspection PyProtectedMember
arm._arm._send_joint_trajectory([pose])

self.base.turn_towards(inspect_target.x(), inspect_target.y(), "map", 1.57)
self.base.turn_towards(inspect_target.vector.x(), inspect_target.vector.y(), inspect_target.header.frame_id, 1.57)
arm.wait_for_motion_done()
self.base.wait_for_motion_done()
return True
Expand Down