panda_autograsp.moveit_planner_server_ros

Module which sets up a number of services that can be used to control the Panda Emika Franka robot.

Classes

MoveitPlannerServer(robot_description, args)

Class used for controlling the Panda Emika Franka robot.

class panda_autograsp.moveit_planner_server_ros.MoveitPlannerServer(robot_description, args, move_group='panda_arm', move_group_end_effector_link='panda_gripper_center', move_group_gripper='hand', pose_reference_frame='panda_link0', planner='TRRTkConfigDefault', add_scene_collision_objects=True)

Class used for controlling the Panda Emika Franka robot.

robot

The moveit robot commander.

Type:moveit_commander.RobotCommander

move_group

The main robot move group.

Type:moveit_commander.MoveGroupCommander

move_group_gripper

The gripper move group.

Type:moveit_commander.MoveGroupCommander

scene

The moveit scene commander.

Type:moveit_commander.PlanningSceneInterface

current_plan

The last computed plan of the main move group.

current_plan_gripper

The last computed plan of the gripper.

desired_pose

The main move group goal pose.

Type:list

desired_joint_values

The main move group target joint values.

Type:list

desired_gripper_joint_values

The gripper target joint values.

Type:list

__init__(robot_description, args, move_group='panda_arm', move_group_end_effector_link='panda_gripper_center', move_group_gripper='hand', pose_reference_frame='panda_link0', planner='TRRTkConfigDefault', add_scene_collision_objects=True)

PandaPathPlannerService class initialization.

Parameters:

• robot_description (str) – Where to find the URDF.
• args (objects) – Roscpp args, passed on.
• move_group (str) – Name of the pose planning reference frame, by default “panda_link0”.
• move_group_end_effector_link (str) – Name of the end effector link.
• move_group_gripper (str) – Name of the move group, by default “panda_arm_hand”.
• pose_reference_frame (str) – Name of the planner reference frame.
• planner (str, optional) – The Path planning algorithm, by default ‘TRRTkConfigDefault’.
• add_scene_collision_objects (bool) – If true the collision objects specified in the moveit_scene_constraints.yaml file will be added to the scene.

plan_to_joint_service(req)

Plan to a given joint position.

Parameters:req (panda_autograsp.msg.PlanToJoint) – The service request message containing the joint targets you want to plan to. Returns:Boolean specifying whether the planning was successful. Return type:Bool

plan_to_point_service(req)

Plan to a given pose.

Parameters:req (panda_autograsp.msg.PlanToPoint) – The service request message containing the pose you want to plan to. Returns:Boolean specifying whether the planning was successful. Return type:bool

plan_cartesian_path_service(req)

Plan to a given cartesian path.

Parameters:req (panda_autograsp.msg.PlanToPath) – The service request message containing the path you want to plan to. Returns:Boolean specifying whether the planning was successful. Return type:bool

plan_random_pose_service(req)

Plan to a random pose goal.

Parameters:req (panda_autograsp.msg.PlanToRandomPoint) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

plan_random_joint_service(req)

Plan to a random joint goal.

Parameters:req (panda_autograsp.msg.PlanToRandomJoint) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

plan_random_cartesian_path_service(req)

Plan to a random cartesian path.

Parameters:req (panda_autograsp.msg.PlanToRandomPath) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

visualize_plan_service(req)

Visualize the plan that has been computed by the other plan services.

Parameters:req (panda_autograsp.msg.VisualizePlan) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

execute_plan_service(req)

Execute the plan that has been computed for the main move group by the other plan services.

Parameters:req (panda_autograsp.msg.ExecutePlan) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

plan_gripper_service(req)

Compute plan for the currently set gripper target joint values.

Parameters:req (panda_autograsp.msg.PlanGripper.) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

execute_gripper_plan_service(req)

Execute previously planned gripper plan.

Parameters:req (panda_autograsp.msg.ExecuteGripperPlan.) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

open_gripper_service(req)

Open the gripper.

Parameters:req (panda_autograsp.msg.OpenGripper.) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

close_gripper_service(req)

Close the gripper.

Parameters:req (panda_autograsp.msg.CloseGripper.) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

set_gripper_open_service(req)

Set gripper joint targets values to open.

Parameters:req (panda_autograsp.msg.SetGripperOpen.) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

set_gripper_closed_service(req)

Set gripper joint target values to closed.

Parameters:req (panda_autograsp.msg.SetGripperClosed.) – Empty service request. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool

set_gripper_width_service(req)

Set gripper joint target values to a given value.

Parameters:req (panda_autograsp.msg.SetGripperWidth.) – This message specifies the gripper width. Returns:Returns a bool to specify whether the plan was executed successfully. Return type:bool