pycram.ros_utils.robot_state_updater

Classes

WorldStateUpdater

Updates the robot in the World with information of the real robot published to ROS topics.

Module Contents

class pycram.ros_utils.robot_state_updater.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

tf_listener

tf_topic

joint_state_topic

world: typing_extensions.Optional[pycram.datastructures.world.World] = None

tf_timer

joint_state_timer

_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.

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.