niryo_libraries.niryo_robot_arm_commander.trajectory_handler.TrajectoryHandlerNode

class documentation

class TrajectoryHandlerNode:

Constructor: TrajectoryHandlerNode(arm_state, trajectory_executor)

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Undocumented

Method __init__ Undocumented
Method blockly_save_trajectory Undocumented
Method check_trajectory_existence Undocumented
Method create_trajectory_file Create a pose from ManageTrajectory message fields
Method get_available_trajectories_w_description Ask the trajectories' manager which trajectories are available
Method get_trajectory Get trajectory from trajectories manager and return a JointTrajectory
Method get_trajectory_file Get the trajectory file associated to the name given
Method get_trajectory_first_point Get trajectory's from trajectories manager and return list of NiryoPose
Method record Undocumented
Method remove_trajectory_file Asks trajectories manager to remove pose
Method save_trajectory Undocumented
Method stop_record Undocumented
Method update_trajectory Undocumented
Instance Variable save_trajectory_publisher Undocumented
Instance Variable traj_file_manager Undocumented
Method __callback_get_trajectory Undocumented
Method __callback_get_trajectory_list Undocumented
Method __callback_manage_trajectory req = ManageTrajectoryRequest() req.cmd = ManageTrajectoryRequest.SAVE req.name = trajectory_name req.trajectory = JointTrajectory() req.trajectory.header = Header() req.trajectory.joint_names = ["Joint 1", "Joint 2", "Joint 3", "Joint 4", "Joint 5", "Joint 6"] req...
Method __callback_save_pos_button_status Undocumented
Method __publish_trajectory_list Undocumented
Instance Variable __arm_state Undocumented
Instance Variable __frequency Undocumented
Instance Variable __learning_trajectory_publisher Undocumented
Instance Variable __lock Undocumented
Instance Variable __record_thread Undocumented
Instance Variable __recording Undocumented
Instance Variable __save_pos_button_topic Undocumented
Instance Variable __traj_executor Undocumented
Instance Variable __trajectory_list_publisher Undocumented
def __init__(self, arm_state, trajectory_executor):

Undocumented

def blockly_save_trajectory(self):

Undocumented

def check_trajectory_existence(self, trajectory_name):

Undocumented

def create_trajectory_file(self, name, description, points):

Create a pose from ManageTrajectory message fields

Parameters
name:strUndocumented
description:strUndocumented
points:list[JointTrajectoryPoint]Undocumented
Returns
None
def get_available_trajectories_w_description(self):

Ask the trajectories' manager which trajectories are available

Returns
list[str]list of trajectories name
def get_trajectory(self, name):

Get trajectory from trajectories manager and return a JointTrajectory

Parameters
name:strpose name
Returns
JointTrajectoryThe trajectory object
def get_trajectory_file(self, name):

Get the trajectory file associated to the name given

Parameters
name:strpose name
Returns
dictThe trajectory file
def get_trajectory_first_point(self, name):

Get trajectory's from trajectories manager and return list of NiryoPose

Parameters
name:strpose name
Returns
JointsThe trajectory's first pose object
def record(self):

Undocumented

def remove_trajectory_file(self, name):

Asks trajectories manager to remove pose

Parameters
name:strtrajectory name
Returns
None
def save_trajectory(self, trajectory, trajectory_name='last_executed_trajectory', description='', auto=True):

Undocumented

def stop_record(self):

Undocumented

def update_trajectory(self, name='', description='', new_name=''):

Undocumented

save_trajectory_publisher =

Undocumented

traj_file_manager =

Undocumented

def __callback_get_trajectory(self, req):

Undocumented

def __callback_get_trajectory_list(self, _):

Undocumented

def __callback_manage_trajectory(self, req):

req = ManageTrajectoryRequest() req.cmd = ManageTrajectoryRequest.SAVE req.name = trajectory_name req.trajectory = JointTrajectory() req.trajectory.header = Header() req.trajectory.joint_names = ["Joint 1", "Joint 2", "Joint 3", "Joint 4", "Joint 5", "Joint 6"] req.trajectory = trajectory req.trajectory.header.stamp = rospy.Time.now() req.trajectory.points = list[TrajectoryPoint] print(req) rospy.wait_for_service('/niryo_robot_poses_handlers/manage_trajectory', self.__service_timeout) service = rospy.ServiceProxy('/niryo_robot_poses_handlers/manage_trajectory', ManageTrajectory) result = service(req) print("Manage Trajectory Service Result: ", result)

Parameters
req:
Returns
def __callback_save_pos_button_status(self, msg):

Undocumented

def __publish_trajectory_list(self):

Undocumented

__arm_state =

Undocumented

__frequency =

Undocumented

__learning_trajectory_publisher =

Undocumented

__lock =

Undocumented

__record_thread =

Undocumented

__recording: bool =

Undocumented

__save_pos_button_topic =

Undocumented

__traj_executor =

Undocumented

__trajectory_list_publisher =

Undocumented