motion_stack.api.ros2 package

Submodules

motion_stack.api.ros2.ik_api module

ROS2 API to send/receive end-effector IK command / FK state to lvl2 and syncronise multiple limbs.

class motion_stack.api.ros2.ik_api.IkHandler(node, limb_number)[source]

Bases: object

Parameters:

  • node (Node)

  • limb_number (int)

property ee_pose

End effector pose

Return type:

Pose

ready_up()[source]
Returns:

  • Future done the next time end effector pose is received

Return type:

Future

send(target_pose)[source]

Sends ik target command to lvl2.

Parameters:

target_pose (Pose)

class motion_stack.api.ros2.ik_api.IkSyncerRos(ik_handlers, interpolation_delta=XyzQuat(xyz=40, quat=0.06981317007977318), on_target_delta=XyzQuat(xyz=40, quat=0.06981317007977318))[source]

Bases: IkSyncer

Controls and syncronises several joints, safely executing trajectory to a target.

Important

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

Parameters:

  • joint_handlers – ROS2 objects handling joint communications of several limbs.

  • ik_handlers (List[IkHandler])

  • interpolation_delta (XyzQuat[float, float])

  • on_target_delta (XyzQuat[float, float])

execute()[source]

Executes one step of the task/trajectory.

This must be called frequently in a ros Timer or something else of your liking.

property sensor

Important

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

Return type:

Dict[int, Pose]

send_to_lvl2(ee_targets)[source]

Important

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

Parameters:

ee_targets (Dict[int, Pose])

property FutureT

Important

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

Return type:

Type[Future]

motion_stack.api.ros2.joint_api module

ROS2 API to send/receive joint command/state to lvl1 and syncronise multiple joints.

class motion_stack.api.ros2.joint_api.JointHandler(node, limb_number)[source]

Bases: object

ROS2 API to send/receive joint command/state to lvl1.

One instance is limited to a single limb.

Note

To safely execute joint movement to a target, do not directly use this class, but use JointSyncerRos.

Parameters:

  • node (Node) – Spinning node.

  • limb_number (int) – Limb number on which to interface with the joints.

tracked

Type:    Set[str]

Joint available on the limb

limb_number

Type:    int

limb number

new_state_cbk

Type:    List[Callable[[‘JointHandler’]]]

Callback executed when the state sensor updates. Argument is this object instance.

ready

Type:    Future

Future becoming done when sensor data is available on all tracked joints

property states

Accumulated joint state (sensor).

Return type:

List[JState]

ready_up(tracked=None)[source]

Starts timer looking for available joints and their data.

Parameters:

tracked (Set[str] | None) – Joints required to be considered ready.

Returns:

  • [0] Future done when all available joints have data.

  • [1] Future done when the leg replies with the names of the available joints

Return type:

Tuple[Future, Future]

send(states)[source]

Sends joint command to lvl1.

Parameters:

states (List[JState])

class motion_stack.api.ros2.joint_api.JointSyncerRos(joint_handlers, interpolation_delta=0.08726646259971647, on_target_delta=0.06981317007977318)[source]

Bases: JointSyncer

Controls and syncronises several joints, safely executing trajectory to a target.

Important

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

Parameters:

  • joint_handlers (List[JointHandler]) – ROS2 objects handling joint communications of several limbs.

  • interpolation_delta (float)

  • on_target_delta (float)

execute()[source]

Executes one step of the task/trajectory.

This must be called frequently in a ros Timer or something else of your liking.

property sensor

Important

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

Return type:

Dict[str, JState]

send_to_lvl1(states)[source]

Important

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

Parameters:

states (List[JState])

property FutureT

Important

This class is a ROS2 implementation of the base class: api.joint_syncer.JointSyncer. Refere to it for documentation.

Return type:

Type[Future]

motion_stack.api.ros2.offsetter module

motion_stack.api.ros2.offsetter.setup_lvl0_offsetter(node, angle_recovery_path=None, offset_path=None)[source]
Return type:

Tuple[Timer, Service]

Parameters:

  • node (Lvl1Node)

  • angle_recovery_path (str | None)

  • offset_path (str | None)

motion_stack.api.ros2.state_to_topic module

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

motion_stack.api.ros2.state_to_topic.default_joint_to_topic_name(attribute, joint_name)[source]

Return the topic name associated with an attribute and joint.

Note

This is the default implementation. You might want to make your own.

Parameters:

  • attribute (str) – position, velocity or effort

  • joint_name (str) – name of the joint

Returns:

name of the associated topic

Return type:

str

class motion_stack.api.ros2.state_to_topic.StatesToTopic(ros_node, joint_to_topic_name=<function 'default_joint_to_topic_name'>)[source]

Bases: object

Publishes joint states onto individual topics.

Features:

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

  • Provide joint_to_topic_name with the the naming convention you need

  • Lazily creates the topics as they are published

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

    • publish a state with np.nan instead of None to force the creation.

Parameters:
classmethod setup_lvl0_command(lvl1_ros_node, joint_to_topic_name=<function 'default_joint_to_topic_name'>)[source]

All joints will have their own individual float topic.

Applies state_to_topic.StatesToTopic to outgoing motor commands of lvl1.

Parameters:

  • lvl1_ros_node (Lvl1Node) – ROS2 node running lvl1

  • joint_to_topic_name (Callable[[str, str], str]) – Function returning the topic name associated with an attribute and joint.

Return type:

StatesToTopic

publish(states)[source]

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

Parameters:

states (Iterable[JState] | JointState)