easy_robot_control.injection package

Provides objects adding functionalities to nodes through dependency injection.

Submodules

easy_robot_control.injection.offsetter module

class easy_robot_control.injection.offsetter.OffsetterLvl0(parent, angle_path=None, offset_path=None)

Bases: object

Position offseter for lvl0, to be injected into a JointNode. Usefull if your URDF and robot are not aligned.

Features

• Inject this into any JointNode

• Apply an angle offset to any joint of the lvl0 input/output.

• Use a service to apply the offset at runtime

• (Optional) Load offsets from a csv on disk.

• (Optional) Save current angles multiplied by -1 every 3s in a csv on disk.This saved angle can tell you the last shutdown position of the robot, if you need to recover the offsets from it.

Note

• You should inject this object into a JointNode at the end of initialization.

• You do not need to call any of those function, just inject this object.

Parameters:

• parent (JointNode)

• angle_path (str | None) – if None, does not save the current angles on disk

• offset_path (str | None) – if None, does not save or load offsets from disk

Examples

• Injecting in a JointNode:

  class Example(JointNode):
      def __init__(self):
          super().__init__()
          self.offsetter = OffsetterLvl0(
              self, angle_path=ANGLE_PATH, offset_path=OFFSET_PATH
          )
  

• Service call:

  ros2 service call /leg1/set_offset motion_stack_msgs/srv/SendJointState "{js: {name: [joint1-2], position: [1], velocity: [], effort: []}}"
  

update_mapper(mapper_in=None, mapper_out=None)

Applies the offsets to a StateRemapper.

Parameters:

• mapper_in (StateRemapper | None) – original map to which offset should be added

• mapper_out (StateRemapper | None) – affected subshaper of this map will change

Return type:

None

update_and_save_offset(js_offset)

Held offset values will be updated then saved on disk.

Note

Preferably use this to not lose the offset in case of restart

Parameters:

js_offset (List[JState]) – list of offsets

Returns:

True if all offsets have a joint to be applied to String for user debugging

Return type:

Tuple[bool, str]

save_angle_as_offset(handlers=None)

Saves current position as the offset to recover to incase of powerloss.

Note

• Saved in self.angle_path

• To use those saves as offsets, replace the file <self.offset_path> with <self.angle_path>

Parameters:

handlers (Dict[str, JointHandler] | None)

load_offset()

Loads offset from offset csv. Skips unknown joints.

save_current_offset(to_save=None)

DO NOT DO THIS AUTOMATICALLY, IT COULD BE DESTRUCTIVE OF VALUABLE INFO. overwrites the offset csv with the currently running offsets

Parameters:

to_save (Dict[str, float] | None)

update_offset(js_offset)

Updates offset in memory

Parameters:

js_offset (List[JState]) – list of offsets

Returns:

True if all offsets have a joint to be applied to String for user debugging

Return type:

Tuple[bool, str]

easy_robot_control.injection.topic_pub module

Provides StatesToTopics, to be injected in a Node. see the class docstring for details

class easy_robot_control.injection.topic_pub.StatesToTopic(joint_node)

Bases: object

Publishes joint states onto individual topics, to be injected in a Node.

Features:

• Publishes a list of JState or a JointStates onto individual Float64 topics

• Overload make_topic_name with the the naming convention you need

• Lazily creates the topics as they are publishedtopics

  • topics will not be created at startup, but the first time they are used

  • publish np.nan and/or overload _pub_attribute to change this

====================== Injection sample code ==================== from easy_robot_control.injection.topic_pub import StatesToTopic from rclpy.node import Node

class MyStatesToTopic(StatesToTopic):

def make_topic_name(self, attribute: str, joint_name: str) -> str:

topic_name = f”canopen_motor/{joint_name}_joint_{attribute}_controller/command” return topic_name

class Example(Node):

def __init__(self):

super().__init__() self.topic_pub = StatesToTopic(self)

def send_to_lvl0(self, states):

self.topic_pub.publish(states)

Parameters:

joint_node (Node)

make_topic_name(attribute, joint_name)

Return the topic name to create. Overload this with the topic naming style you need, for example

return f”canopen_motor/{joint_name}_joint_{attribute}_controller/command”

the output will be sanitize by __make_topic_name.

Parameters:

• attribute (str) – position, velocity or effort

• joint_name (str) – name of the joint

Returns:

name of the associated topic

Return type:

str

publish(states)

publishes a list of JState over float topics (lazily created).

Parameters:

states (Iterable[JState] | JointState)