Public Member Functions
	__init__ (self, str topic_prefix, rclcpp_Node rclcpp_node, sim, int robot_base_handle=None, list[str] joint_names=None)
	sensing_update (self)
	actuation_update (self)

Public Attributes
	robot_base_handle = robot_base_handle
	topic_prefix = topic_prefix
	rclcpp_node = rclcpp_node
	sim = sim
	joint_handles = sim.getObjectsInTree(self.robot_base_handle, sim.sceneobject_joint)
	DOF = len(self.joint_handles)
	rds = RobotDriverServer(rclcpp_node, f"/sas_robot_driver_coppeliasim{self.topic_prefix}")
np.array	q = np.zeros(self.DOF)
np.array	q_min = np.zeros(self.DOF)
np.array	q_max = np.zeros(self.DOF)
np.array	q_dot = np.zeros(self.DOF)
np.array	q_force = np.zeros(self.DOF)
np.array	q_target = None

Detailed Description

Publishes joint states and applies joint commands for a CoppeliaSim robot.

Constructor & Destructor Documentation

◆ init()

sas_robot_driver_coppeliasim.simros2_robot_manager.SimROS2RobotManager.__init__	(		self,
		str	topic_prefix,
		rclcpp_Node	rclcpp_node,
			sim,
		int	robot_base_handle = None,
		list[str]	joint_names = None )

Either ``robot_base_handle`` or ``joint_names`` must be provided, but not both.

:param topic_prefix: ROS 2 topic prefix for this robot's driver server.
:param rclcpp_node: C++ rclcpp node used by the RobotDriverServer.
:param sim: CoppeliaSim simulation object provided by the simulator.
:param robot_base_handle: CoppeliaSim handle of the robot base object.
                          All joints in the subtree are used automatically.
:param joint_names: Explicit list of joint names (not yet implemented).

Member Function Documentation

◆ actuation_update()

sas_robot_driver_coppeliasim.simros2_robot_manager.SimROS2RobotManager.actuation_update ( self )

Applies target joint positions from the driver server to the simulator.

◆ sensing_update()

sas_robot_driver_coppeliasim.simros2_robot_manager.SimROS2RobotManager.sensing_update ( self )

Reads joint states from the simulator and publishes them via the driver server.

The documentation for this class was generated from the following file:

src/sas_robot_driver_coppeliasim/sas_robot_driver_coppeliasim/simros2_robot_manager.py

Public Member Functions