moveit.servo_client.teleop.TeleopDevice Class Reference

Inheritance diagram for moveit.servo_client.teleop.TeleopDevice:

Collaboration diagram for moveit.servo_client.teleop.TeleopDevice:

Public Member Functions
	__init__ (self, node_name, device_name, device_config, ee_frame_name)
	start_teleop (self)
	stop_teleop (self)
	publish_command (self)
	record (self)

Public Attributes
	device_name = device_name
	device_config = device_config
	ee_frame_name = ee_frame_name
	joy_subscriber
	twist_publisher
	servo_node_start_client
	servo_node_stop_client
	teleop_thread = None

Detailed Description

An abstract base class for a teleoperation device.

This class expects both the `publish_command` and `record` methods to be overridden by inheriting classes.

Definition at line 48 of file teleop.py.

Constructor & Destructor Documentation

__init__()

moveit.servo_client.teleop.TeleopDevice.__init__	(		self,
			node_name,
			device_name,
			device_config,
			ee_frame_name )

Definition at line 55 of file teleop.py.

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Member Function Documentation

publish_command()

moveit.servo_client.teleop.TeleopDevice.publish_command

(

self

)

Publishes the teleop command.

Reimplemented in moveit.servo_client.devices.ps4_dualshock.PS4DualShockTeleop.

Definition at line 107 of file teleop.py.

record()

moveit.servo_client.teleop.TeleopDevice.record

(

self

)

Records trajectory data.

Reimplemented in moveit.servo_client.devices.ps4_dualshock.PS4DualShockTeleop.

Definition at line 114 of file teleop.py.

start_teleop()

moveit.servo_client.teleop.TeleopDevice.start_teleop

(

self

)

Starts servo client and teleop process.

Definition at line 77 of file teleop.py.

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stop_teleop()

moveit.servo_client.teleop.TeleopDevice.stop_teleop

(

self

)

Stops servo client and teleop process.

Definition at line 95 of file teleop.py.

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Member Data Documentation

device_config

moveit.servo_client.teleop.TeleopDevice.device_config = device_config

Definition at line 58 of file teleop.py.

device_name

moveit.servo_client.teleop.TeleopDevice.device_name = device_name

Definition at line 57 of file teleop.py.

ee_frame_name

moveit.servo_client.teleop.TeleopDevice.ee_frame_name = ee_frame_name

Definition at line 59 of file teleop.py.

joy_subscriber

moveit.servo_client.teleop.TeleopDevice.joy_subscriber

Initial value:

=  self.create_subscription(
            Joy, "/joy", self.publish_command, 10
        )

Definition at line 62 of file teleop.py.

servo_node_start_client

moveit.servo_client.teleop.TeleopDevice.servo_node_start_client

Initial value:

=  self.create_client(
            Trigger, "/servo_node/start_servo"
        )

Definition at line 68 of file teleop.py.

servo_node_stop_client

moveit.servo_client.teleop.TeleopDevice.servo_node_stop_client

Initial value:

=  self.create_client(
            Trigger, "/servo_node/stop_servo"
        )

Definition at line 71 of file teleop.py.

teleop_thread

moveit.servo_client.teleop.TeleopDevice.teleop_thread = None

Definition at line 75 of file teleop.py.

twist_publisher

moveit.servo_client.teleop.TeleopDevice.twist_publisher

Initial value:

=  self.create_publisher(
            TwistStamped, "/servo_node/delta_twist_cmds", 10
        )

Definition at line 65 of file teleop.py.

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The documentation for this class was generated from the following file:

• moveit_py/moveit/servo_client/teleop.py