sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo Class Reference

Inheritance diagram for sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo:

Public Member Functions
	__init__ (self, ShutdownSignaler ss, RobotDriverGazeboConfiguration configuration)
	connect (self)
	disconnect (self)
	initialize (self)
	deinitialize (self)
	get_joint_positions (self)
	get_joint_velocities (self)
	get_joint_torques (self)
	set_target_joint_positions (self, target_joint_positions_rad)
	joint_states_callback (self, msg)

Public Attributes
RobotDriverGazeboConfiguration	configuration = configuration
int	DOF = len(self.configuration.joint_names)
str	joint_positions_topic_postfix = "/0/cmd_pos"
list	joint_publishers = []
list	joint_positions = [None] * self.DOF
list	joint_velocities = [None] * self.DOF
list	joint_torques = [None] * self.DOF
list	limit_lower = [None] * self.DOF
list	limit_upper = [None] * self.DOF
	node = None
	joint_states_callback

Detailed Description

@class RobotDriverGazebo
@brief Gazebo implementation of RobotDriver.

Publishes joint position commands to Gazebo and receives joint states,
velocities, torques, and limits from Gazebo model messages.

Constructor & Destructor Documentation

__init__()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.__init__	(		self,
		ShutdownSignaler	ss,
		RobotDriverGazeboConfiguration	configuration )

@brief Construct a Gazebo robot driver.

@param ss ShutdownSignaler instance used by the base RobotDriver.
@param configuration Configuration values for Gazebo topics and joints.

Member Function Documentation

connect()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.connect

(

self

)

@brief Connect to Gazebo topics.

Creates Gazebo publishers for joint commands and subscribes to the
configured joint state topic.

@return None
@exception RuntimeError Raised when the joint state subscription fails.

deinitialize()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.deinitialize

(

self

)

@brief Deinitialize the driver.
@return None

disconnect()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.disconnect

(

self

)

@brief Disconnect from Gazebo.
@return None

get_joint_positions()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.get_joint_positions

(

self

)

@brief Return the current joint positions.

@return list Current joint positions in radians.
@exception RuntimeError Raised when joint positions are unavailable.

get_joint_torques()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.get_joint_torques

(

self

)

@brief Return the current joint torques.

@return list Current joint torques.
@exception RuntimeError Raised when joint torques are unavailable.

get_joint_velocities()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.get_joint_velocities

(

self

)

@brief Return the current joint velocities.

@return list Current joint velocities.
@exception RuntimeError Raised when joint velocities are unavailable.

initialize()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.initialize

(

self

)

@brief Wait for joint states and limits.

Blocks until joint positions and joint limits have been received from
Gazebo, then stores the limits in the base RobotDriver.

@return None

joint_states_callback()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.joint_states_callback	(		self,
			msg )

@brief Update cached joint state values.

Reads positions, velocities, torques, and limits for configured joints
from a Gazebo model message.

@param msg Gazebo model message containing joint state data.
@return None

set_target_joint_positions()

sas_robot_driver_gazebo.sas_robot_driver_gazebo.RobotDriverGazebo.set_target_joint_positions	(		self,
			target_joint_positions_rad )

@brief Publish target joint positions.

@param target_joint_positions_rad Sequence of target joint positions in radians.
@return None

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

• src/sas_robot_driver_gazebo/sas_robot_driver_gazebo/sas_robot_driver_gazebo.py