`mh5_director` reference¶

class Director¶

class Director(portfolio_path=None)[source]¶

The Director class

Reads script definitions from YAML files and can execute them by passing the pose information to the dynamixel_control/follow_joint_trajectory action server.

Listens to the director/run topic for commands to execute a script.

load_scripts()[source]¶: Loads XML definitions from the param server and stores them in the portfolios attribute.

setup_services()[source]¶

Starts the subscriptions.

Director subscribes to: - director/run - used to trigger the execution of a script - …

setup_action_client()[source]¶

Sets up the subscription to the dynamixel_control/follow_joint_trajectory action server.

The function will wait for the action server to become available.

run_script_callback(msg)[source]¶

Callback for director/run

The request script should be in the form: <portfolio.script>.

Will log errors if the requested portfolio or script in that portfolio doesn’t exist.

The information in the script is converted into a JointTrajectoryGoal and passed to the action server. If the feedback attribute in the message is True, the script_feedback_callback() will be also submitted to the send_goal() method of the action client. If the wait attribute in the message is True the method will wait for the action server to finish before completing.

Parameters: msg (RunScript) – message received

script_feedback_callback(feedback)[source]¶

Provides feedback while running the script.

Parameters: feedback (FollowJointTrajectoryFeedback) – the feedback provided by the action server

class Portfolio¶

class Portfolio[source]¶

A portfolio of scripts.

A Portfolio is a collection of scripts that can share certain elements like scenes and poses.

A portfolio is composed of the following elements:

name¶: the name of the Portfolio

units¶: Unit of measurements for positions angles. Only rad and deg allowed and by default it will be rad if no attribute is specified in the souce XACRO. :type str

joints¶: The default list of joints to be used across the scripts in this portfolio. The order of joints is important as all the positions sppecifications will assume the same order. A portfolio can use a subset of all the joints of the robot and only the joints specified here will be passed when constructing the communcation messages with the robots’ controllers. :type list(str)

duration¶: The default duration (in seconds) for poses in scenes. If scenes do not specify a duration= attribute, they will inherit automatically this duration from the portfolio. :type float

poses¶: A dictionary of Pose() defined in this portfolio. type dict{name: Pose}

scenes¶: A dictionary of Scene() defined in this portfolio. type dict{name: Scene}

scripts¶: A dictionary of Script() defined in this portfolio. type dict{name: Script}

classmethod from_xml(xml_elem)[source]¶

Constructs a Portfolio object by reading an XML defintion and parsing it.

Parameters

xml_elem (xml.etree.ElementTree.ElementTree) – The XML element with the structure of the portfolio.

Raises

ValueError: – If the data is incorrect. Additional details are provided in the exception text.
AssertionError: – If attributes are missing or missmatched with the expected ones.

get_script_names()[source]¶

to_joint_trajectory_goal(script_name, speed)[source]¶

class Script¶

class Script[source]¶

classmethod from_xml(xml_elem, portfolio)[source]¶

class Scene¶

class Scene[source]¶

classmethod from_xml(xml_elem, portfolio)[source]¶

class Pose¶

class Pose[source]¶

A Pose groups together the joints and the positions needed to produce a specific robot pose.

name¶

Pose name

Type: str

joints¶

Joints used by the Pose. If the source XACRO did not use joints= the Pose will inherit by default all the joints defined in the portfolio

Type: list of str

positions¶

Positions for each of the joints associated with this Pose. Each position matches the order of joints and is expressed in the unit of measures defined by the portfolio.

Type: list of float

classmethod from_xml(xml_elem, portfolio)[source]¶

Initializes the Pose from an XML element tree structure.

Parameters

xml_elem (xml.etree.ElementTree.ElementTree) – The XML element tree that contains the structure of the Pose
portfolio (Portfolio) – The top Portfolio object that ownes this Pose

Returns

The initiazed Pose object.

Return type

Pose