pycram.external_interfaces.robokudo

Module Contents

Functions

init_robokudo_interface(→ typing_extensions.Callable)	Tries to import the RoboKudo messages and with that initialize the RoboKudo interface.
create_robokudo_action_client(→ typing_extensions.Callable)	Creates a new action client for the RoboKudo query interface and returns a function encapsulating the action client.
msg_from_obj_desig(→ robokudo_msgs.msg.ObjectDesignator)	Creates a RoboKudo Object designator from a PyCRAM Object Designator description
make_query_goal_msg(→ robokudo_msgs.msg.QueryGoal)	Creates a QueryGoal message from a PyCRAM Object designator description for the use of Querying RobotKudo.
query(...)	Sends a query to RoboKudo to look for an object that fits the description given by the Object designator description.

Attributes

robokudo_action_client

pycram.external_interfaces.robokudo.robokudo_action_client

pycram.external_interfaces.robokudo.init_robokudo_interface(func: typing_extensions.Callable) → typing_extensions.Callable

Tries to import the RoboKudo messages and with that initialize the RoboKudo interface.

pycram.external_interfaces.robokudo.create_robokudo_action_client() → typing_extensions.Callable

Creates a new action client for the RoboKudo query interface and returns a function encapsulating the action client. The returned function can be called with an ObjectDesigantor as parameter and returns the result of the action client.

Returns:

A callable function encapsulating the action client

pycram.external_interfaces.robokudo.msg_from_obj_desig(obj_desc: pycram.designator.ObjectDesignatorDescription) → robokudo_msgs.msg.ObjectDesignator

Creates a RoboKudo Object designator from a PyCRAM Object Designator description

Parameters:

obj_desc – The PyCRAM Object designator that should be converted

Returns:

The RobotKudo Object Designator for the given PyCRAM designator

pycram.external_interfaces.robokudo.make_query_goal_msg(obj_desc: pycram.designator.ObjectDesignatorDescription) → robokudo_msgs.msg.QueryGoal

Creates a QueryGoal message from a PyCRAM Object designator description for the use of Querying RobotKudo.

Parameters:

obj_desc – The PyCRAM object designator description that should be converted

Returns:

The RoboKudo QueryGoal for the given object designator description

pycram.external_interfaces.robokudo.query(object_desc: pycram.designator.ObjectDesignatorDescription) → pycram.designator.ObjectDesignatorDescription.Object

Sends a query to RoboKudo to look for an object that fits the description given by the Object designator description. For sending the query to RoboKudo a simple action client will be created and the Object designator description is sent as a goal.

Parameters:

object_desc – The object designator description which describes the object that should be perceived

Returns:

An object designator for the found object, if there was an object that fitted the description.