pycram.ros_utils.robot_state_updater
====================================

.. py:module:: pycram.ros_utils.robot_state_updater


Classes
-------

.. autoapisummary::

   pycram.ros_utils.robot_state_updater.WorldStateUpdater


Module Contents
---------------

.. py:class:: WorldStateUpdater(tf_topic: str, joint_state_topic: str, update_rate: datetime.timedelta = timedelta(milliseconds=100), world: typing_extensions.Optional[pycram.datastructures.world.World] = None)

   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


   .. py:attribute:: tf_listener


   .. py:attribute:: tf_topic


   .. py:attribute:: joint_state_topic


   .. py:attribute:: world
      :type:  typing_extensions.Optional[pycram.datastructures.world.World]
      :value: None



   .. py:attribute:: tf_timer


   .. py:attribute:: joint_state_timer


   .. py:method:: _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 objects frames.

      :param msg: TransformStamped message published to the topic



   .. py:method:: _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.

      :param msg: JointState message published to the topic.



   .. py:method:: _stop_subscription() -> None

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