Public Member Functions
	__init__ (self, int object_handle, Node node, sim)
	sensing_update (self)
	actuation_update (self)
	subscriber_callback (self, PoseStamped msg)

Public Attributes
	object_handle = object_handle
	object_alias = sim.getObjectAlias(object_handle, 1).replace("[", "_").replace("]", "_")
	sim = sim
	publisher
	subscriber
	x = None

Detailed Description

Publishes and receives poses for a CoppeliaSim scene object.

Constructor & Destructor Documentation

◆ init()

sas_robot_driver_coppeliasim.simros2_object_manager.SimROS2ObjectManager.__init__	(		self,
		int	object_handle,
		Node	node,
			sim )

:param object_handle: CoppeliaSim handle of the scene object.
:param node: rclpy Node used to create publishers and subscriptions.
:param sim: CoppeliaSim simulation object provided by the simulator.

Member Function Documentation

◆ actuation_update()

sas_robot_driver_coppeliasim.simros2_object_manager.SimROS2ObjectManager.actuation_update ( self )

Applies a pending pose command to the simulator, then clears it.

◆ sensing_update()

sas_robot_driver_coppeliasim.simros2_object_manager.SimROS2ObjectManager.sensing_update ( self )

Reads the object pose from the simulator and publishes it.

◆ subscriber_callback()

sas_robot_driver_coppeliasim.simros2_object_manager.SimROS2ObjectManager.subscriber_callback	(		self,
		PoseStamped	msg )

Stores an incoming pose command for the next actuation step.

Member Data Documentation

◆ publisher

sas_robot_driver_coppeliasim.simros2_object_manager.SimROS2ObjectManager.publisher

Initial value:

=  node.create_publisher(
            msg_type=PoseStamped,
            topic=f'/sas_robot_driver_coppeliasim/object{self.object_alias}/get/pose',
            qos_profile=1)

◆ subscriber

sas_robot_driver_coppeliasim.simros2_object_manager.SimROS2ObjectManager.subscriber