pycram.external_interfaces.tmc

pycram.external_interfaces.tmc#

Attributes#

is_init

Functions#

init_tmc_interface()

tmc_gripper_control(designator[, topic_name])

Publishes a message to the gripper controller to open or close the gripper for the HSR.

tmc_talk(designator[, topic_name])

Publishes a sentence to the talk_request topic of the HSRB robot

Module Contents#

pycram.external_interfaces.tmc.is_init = False#
pycram.external_interfaces.tmc.init_tmc_interface()#
pycram.external_interfaces.tmc.tmc_gripper_control(designator: pycram.designators.motion_designator.MoveGripperMotion, topic_name: typing_extensions.Optional[str] = '/hsrb/gripper_controller/grasp/goal')#

Publishes a message to the gripper controller to open or close the gripper for the HSR.

Parameters:

  • designator – The designator containing the motion to be executed

  • topic_name – The topic name to publish the message to

pycram.external_interfaces.tmc.tmc_talk(designator: pycram.designators.motion_designator.TalkingMotion, topic_name: typing_extensions.Optional[str] = '/talk_request')#

Publishes a sentence to the talk_request topic of the HSRB robot

Parameters:

  • designator – The designator containing the sentence to be spoken

  • topic_name – The topic name to publish the sentence to

Contents