pycram.ros_utils.tf_broadcaster

Classes

TFBroadcaster

Broadcaster that publishes TF frames for every object in the World.

Module Contents

class pycram.ros_utils.tf_broadcaster.TFBroadcaster(projection_namespace=ExecutionType.SIMULATED, odom_frame='odom', interval=0.1)

Broadcaster that publishes TF frames for every object in the World.

world

tf_static_publisher

tf_publisher

thread

kill_event

interval = 0.1

projection_namespace

odom_frame = 'odom'

update()

Updates the TFs for the static odom frame and all objects currently in the World.

_update_objects() → None

Publishes the current pose of all objects in the World. As well as the poses of all links of these objects.

_update_static_odom() → None

Publishes a static odom frame to the tf_static topic.

_publish_pose(child_frame_id: str, pose: pycram.datastructures.pose.PoseStamped, static=False) → None

Publishes the given pose to the ROS TF topic. First the pose is converted to a Transform between pose.frame and the given child_frame_id. Afterward, the frames of the Transform are prefixed with the projection namespace.

Parameters:

• child_frame_id – Name of the TF frame which the pose points to

• pose – Pose that should be published

• static – If the pose should be published to the tf_static topic

_publish() → None

Constantly publishes the positions of all objects in the World.

_stop_publishing() → None

Called when the process ends, sets the kill_event which terminates the thread that publishes to the TF topic.