pycram.external_interfaces.robokudo

Attributes

robokudo_found
is_init
client
number_of_par_goals
robokudo_lock
robokudo_rlock
par_threads

Functions

thread_safe(→ typing_extensions.Callable)	Adds thread safety to a function via a decorator. This uses the robokudo_lock
init_robokudo_interface(→ typing_extensions.Callable)	Checks if the ROS messages are available and if Robokudo is running, if that is the case the interface will be
send_query(→ Any)	Generic function to send a query to RoboKudo.
query_all_objects(→ dict)	Query RoboKudo for all objects.
query_object(→ dict)	Query RoboKudo for an object that fits the description.
query_human(→ PointStamped)	Query RoboKudo for human detection and return the detected human's pose.
stop_query()	Stop any ongoing query to RoboKudo.
query_specific_region(→ Any)	Query RoboKudo to scan a specific region.
query_human_attributes(→ Any)	Query RoboKudo for human attributes like brightness of clothes, headgear, and gender.
query_waving_human(...)	Query RoboKudo for detecting a waving human.

Module Contents

pycram.external_interfaces.robokudo.robokudo_found = False

pycram.external_interfaces.robokudo.is_init = False

pycram.external_interfaces.robokudo.client = None

pycram.external_interfaces.robokudo.number_of_par_goals = 0

pycram.external_interfaces.robokudo.robokudo_lock

pycram.external_interfaces.robokudo.robokudo_rlock

pycram.external_interfaces.robokudo.par_threads

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

Adds thread safety to a function via a decorator. This uses the robokudo_lock

Parameters:

func – Function that should be thread safe

Returns:

A function with thread safety

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

Checks if the ROS messages are available and if Robokudo is running, if that is the case the interface will be initialized.

Parameters:

func – Function this decorator should be wrapping

Returns:

A callable function which initializes the interface and then calls the wrapped function

pycram.external_interfaces.robokudo.send_query(obj_type: typing_extensions.Optional[str] = None, region: typing_extensions.Optional[str] = None, attributes: typing_extensions.Optional[typing_extensions.List[str]] = None) → Any

Generic function to send a query to RoboKudo.

pycram.external_interfaces.robokudo.query_all_objects() → dict

Query RoboKudo for all objects.

pycram.external_interfaces.robokudo.query_object(obj_desc: pycram.designator.ObjectDesignatorDescription) → dict

Query RoboKudo for an object that fits the description.

pycram.external_interfaces.robokudo.query_human() → PointStamped

Query RoboKudo for human detection and return the detected human’s pose.

pycram.external_interfaces.robokudo.stop_query()

Stop any ongoing query to RoboKudo.

pycram.external_interfaces.robokudo.query_specific_region(region: str) → Any

Query RoboKudo to scan a specific region.

pycram.external_interfaces.robokudo.query_human_attributes() → Any

Query RoboKudo for human attributes like brightness of clothes, headgear, and gender.

pycram.external_interfaces.robokudo.query_waving_human() → pycram.datastructures.pose.PoseStamped

Query RoboKudo for detecting a waving human.