motion_stack.ros2 package

ROS2 specific API and nodes, for the motion stack core.

Links ROS2 systems and and the pure pyhton core. Timer, Messages, Publisher, Subscription … all of those ROS2 tools are created here then executes functions of the core.

• ros2.base_node Provides the API template to use the python core through ROS2 nodes.

• ros2.default_node uses this API to make the default nodes.

Warning

Non-ROS2-related opertation must NOT be implemented here.

Subpackages

• motion_stack.ros2.base_node package
  • Submodules
  • motion_stack.ros2.base_node.lvl1 module
  • motion_stack.ros2.base_node.lvl2 module
• motion_stack.ros2.default_node package
  • Submodules
  • motion_stack.ros2.default_node.lvl1 module
  • motion_stack.ros2.default_node.lvl2 module
  • motion_stack.ros2.default_node.trial module
• motion_stack.ros2.ros2_asyncio package
  • sleep()
  • wait_for()
  • ensure_future()
  • gather()
  • Submodules
  • motion_stack.ros2.ros2_asyncio.ros2_asyncio module
  • motion_stack.ros2.ros2_asyncio.ros2_executor_patch module
• motion_stack.ros2.utils package
  • Submodules
  • motion_stack.ros2.utils.conversion module
  • motion_stack.ros2.utils.executor module
  • motion_stack.ros2.utils.files module
  • motion_stack.ros2.utils.joint_state module
  • motion_stack.ros2.utils.lazy_joint_state_publisher module
  • motion_stack.ros2.utils.linking module
  • motion_stack.ros2.utils.task module

Submodules

motion_stack.ros2.communication module

Holds ros2 communication interface data.

It provides the names and types of every interface (topics, services, actions) used by the motion stack. So no need to remember the right name with the right spelling, import this and use communication.lvl1.output.joint_state.name to get joint_read

motion_stack.ros2.communication.limb_ns(limb_number)

Parameters:

limb_number – Number of the limb

Returns:

Namespace of the limb.

Return type:

str

namedtuple motion_stack.ros2.communication.Interf(type, name)

Bases: NamedTuple

Ros2 interface class with type and name

Fields:

0.  type (Type) – Alias for field number 0

1.  name (str) – Alias for field number 1

class motion_stack.ros2.communication.lvl1

Bases: object

alive = (<class 'std_srvs.srv._empty.Empty'>, 'joint_alive')

Type:    Interf

class output

Bases: object

motor_command = (<class 'sensor_msgs.msg._joint_state.JointState'>, 'joint_commands')

Type:    Interf

joint_state = (<class 'sensor_msgs.msg._joint_state.JointState'>, 'joint_read')

Type:    Interf

advertise = (<class 'motion_stack_msgs.srv._return_joint_state.ReturnJointState'>, 'advertise_joints')

Type:    Interf

class input

Bases: object

motor_sensor = (<class 'sensor_msgs.msg._joint_state.JointState'>, 'joint_states')

Type:    Interf

joint_target = (<class 'sensor_msgs.msg._joint_state.JointState'>, 'joint_set')

Type:    Interf

class motion_stack.ros2.communication.lvl2

Bases: object

alive = (<class 'std_srvs.srv._empty.Empty'>, 'ik_alive')

Type:    Interf

class output

Bases: object

joint_target = (<class 'sensor_msgs.msg._joint_state.JointState'>, 'joint_set')

Type:    Interf

tip_pos = (<class 'geometry_msgs.msg._transform.Transform'>, 'tip_pos')

Type:    Interf

class input

Bases: object

joint_state = (<class 'sensor_msgs.msg._joint_state.JointState'>, 'joint_read')

Type:    Interf

set_ik = (<class 'geometry_msgs.msg._transform.Transform'>, 'set_ik_target')

Type:    Interf