moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | |
def | __init__ (self, str robot_name, robot_description="robot_description", Optional[str] package_name=None) |
def | robot_description (self, Optional[str] file_path=None, dict[SomeSubstitutionsType, SomeSubstitutionsType] mappings=None) |
def | robot_description_semantic (self, Optional[str] file_path=None, dict[SomeSubstitutionsType, SomeSubstitutionsType] mappings=None) |
def | robot_description_kinematics (self, Optional[str] file_path=None) |
def | joint_limits (self, Optional[str] file_path=None) |
def | moveit_cpp (self, Optional[str] file_path=None) |
def | trajectory_execution (self, Optional[str] file_path=None, bool moveit_manage_controllers=True) |
def | planning_scene_monitor (self, bool publish_planning_scene=True, bool publish_geometry_updates=True, bool publish_state_updates=True, bool publish_transforms_updates=True, bool publish_robot_description=False, bool publish_robot_description_semantic=False) |
def | sensors_3d (self, Optional[str] file_path=None) |
def | planning_pipelines (self, str default_planning_pipeline=None, List[str] pipelines=None, bool load_all=True) |
def | pilz_cartesian_limits (self, Optional[str] file_path=None) |
def | to_moveit_configs (self) |
def | to_dict (self, bool include_moveit_configs=True) |
Definition at line 140 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.__init__ | ( | self, | |
str | robot_name, | ||
robot_description = "robot_description" , |
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Optional[str] | package_name = None |
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) |
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.joint_limits | ( | self, | |
Optional[str] | file_path = None |
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) |
Load joint limits overrides. :param file_path: Absolute or relative path to the joint limits yaml file (w.r.t. robot_name_moveit_config). :return: Instance of MoveItConfigsBuilder with robot_description_planning loaded.
Definition at line 305 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.moveit_cpp | ( | self, | |
Optional[str] | file_path = None |
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) |
Load MoveItCpp parameters. :param file_path: Absolute or relative path to the MoveItCpp yaml file (w.r.t. robot_name_moveit_config). :return: Instance of MoveItConfigsBuilder with moveit_cpp loaded.
Definition at line 320 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.pilz_cartesian_limits | ( | self, | |
Optional[str] | file_path = None |
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) |
Load cartesian limits. :param file_path: Absolute or relative path to the cartesian limits file (w.r.t. robot_name_moveit_config). :return: Instance of MoveItConfigsBuilder with pilz_cartesian_limits loaded.
Definition at line 483 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.planning_pipelines | ( | self, | |
str | default_planning_pipeline = None , |
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List[str] | pipelines = None , |
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bool | load_all = True |
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) |
Load planning pipelines parameters. :param default_planning_pipeline: Name of the default planning pipeline. :param pipelines: List of the planning pipelines to be loaded. :param load_all: Only used if pipelines is None. If true, loads all pipelines defined in config package AND this package. If false, only loads the pipelines defined in config package. :return: Instance of MoveItConfigsBuilder with planning_pipelines loaded.
Definition at line 424 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.planning_scene_monitor | ( | self, | |
bool | publish_planning_scene = True , |
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bool | publish_geometry_updates = True , |
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bool | publish_state_updates = True , |
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bool | publish_transforms_updates = True , |
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bool | publish_robot_description = False , |
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bool | publish_robot_description_semantic = False |
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) |
Definition at line 385 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.robot_description | ( | self, | |
Optional[str] | file_path = None , |
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dict[SomeSubstitutionsType, SomeSubstitutionsType] | mappings = None |
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) |
Load robot description. :param file_path: Absolute or relative path to the URDF file (w.r.t. robot_name_moveit_config). :param mappings: mappings to be passed when loading the xacro file. :return: Instance of MoveItConfigsBuilder with robot_description loaded.
Definition at line 213 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.robot_description_kinematics | ( | self, | |
Optional[str] | file_path = None |
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) |
Load IK solver parameters. :param file_path: Absolute or relative path to the kinematics yaml file (w.r.t. robot_name_moveit_config). :return: Instance of MoveItConfigsBuilder with robot_description_kinematics loaded.
Definition at line 290 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.robot_description_semantic | ( | self, | |
Optional[str] | file_path = None , |
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dict[SomeSubstitutionsType, SomeSubstitutionsType] | mappings = None |
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) |
Load semantic robot description. :param file_path: Absolute or relative path to the SRDF file (w.r.t. robot_name_moveit_config). :param mappings: mappings to be passed when loading the xacro file. :return: Instance of MoveItConfigsBuilder with robot_description_semantic loaded.
Definition at line 254 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.sensors_3d | ( | self, | |
Optional[str] | file_path = None |
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) |
Load sensors_3d parameters. :param file_path: Absolute or relative path to the sensors_3d yaml file (w.r.t. robot_name_moveit_config). :return: Instance of MoveItConfigsBuilder with robot_description_planning loaded.
Definition at line 407 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.to_dict | ( | self, | |
bool | include_moveit_configs = True |
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) |
Get loaded parameters from robot_name_moveit_config as a dictionary. :param include_moveit_configs: Whether to include the MoveIt config parameters or only the ones from ParameterBuilder :return: Dictionary with all parameters loaded.
Definition at line 535 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.to_moveit_configs | ( | self | ) |
Get MoveIt configs from robot_name_moveit_config. :return: An MoveItConfigs instance with all parameters loaded.
Definition at line 506 of file moveit_configs_builder.py.
def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.trajectory_execution | ( | self, | |
Optional[str] | file_path = None , |
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bool | moveit_manage_controllers = True |
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) |
Load trajectory execution and moveit controller managers' parameters :param file_path: Absolute or relative path to the controllers yaml file (w.r.t. robot_name_moveit_config). :param moveit_manage_controllers: Whether trajectory execution manager is allowed to switch controllers' states. :return: Instance of MoveItConfigsBuilder with trajectory_execution loaded.
Definition at line 332 of file moveit_configs_builder.py.