pycram.ros.robot_state_updater

Module Contents

Classes

RobotStateUpdater

Updates the robot in the World with information of the real robot published to ROS topics.
class pycram.ros.robot_state_updater.RobotStateUpdater(tf_topic: str, joint_state_topic: str)

Updates the robot in the World with information of the real robot published to ROS topics. Infos used to update the robot are:

  • The current pose of the robot

  • The current joint state of the robot

The robot state updater uses a TF topic and a joint state topic to get the current state of the robot.

Parameters:

  • tf_topic – Name of the TF topic, needs to publish geometry_msgs/TransformStamped

  • joint_state_topic – Name of the joint state topic, needs to publish sensor_msgs/JointState

_subscribe_tf(msg: geometry_msgs.msg.TransformStamped) → None

Callback for the TF timer, will do a lookup of the transform between map frame and the robot base frame.

Parameters:

msg – TransformStamped message published to the topic

_subscribe_joint_state(msg: sensor_msgs.msg.JointState) → None

Sets the current joint configuration of the robot in the world to the configuration published on the topic. Since this uses rospy.wait_for_message which can have errors when used with threads there might be an attribute error in the rospy implementation.

Parameters:

msg – JointState message published to the topic.

_stop_subscription() → None

Stops the Timer for TF and joint states and therefore the updating of the robot in the world.