panda_autograsp.tf2_broadcaster_ros

Module that can be used to broadcasts a number of tf2 frames and ensures these frames can be updated using a dynamic reconfigure server.

Functions

get_dynamic_param(parameter_name)

This function retrieves a parameter from the parameter server just like the rospy.get_param() function.

Classes

Tf2Broadcaster()

Tf2 broadcaster class.

panda_autograsp.tf2_broadcaster_ros.get_dynamic_param(parameter_name)

This function retrieves a parameter from the parameter server just like the rospy.get_param() function. Additionally to the rospy.get_param() function, if a parameter is not found on the parameter server it also tries to retrieve a value for the parameter using the CalibFramesConfig.defaults dict.

Returns:

• str, int, float
• and bool. – The parameter value.

class panda_autograsp.tf2_broadcaster_ros.Tf2Broadcaster

Tf2 broadcaster class.

calib_frame_x_pos

Calibration frame x position [m] (Relative to the ‘panda_link0` frame).

Type:float

calib_frame_y_pos

Calibration frame y position [m] (Relative to the ‘panda_link0` frame).

Type:float

calib_frame_z_pos

Calibration frame z position [m] (Relative to the ‘panda_link0` frame).

Type:float

calib_frame_yaw

Calibration frame yaw orientation [rad] (Relative to the ‘panda_link0` frame).

Type:float

calib_frame_pitch

Calibration frame pitch orientation [rad] (Relative to the ‘panda_link0` frame).

Type:float

calib_frame_roll

Calibration frame roll orientation [rad] (Relative to the ‘panda_link0` frame).

Type:float

sensor_frame_x_pos

Sensor frame x position [m] (Relative to the ‘calib_frame` frame).

Type:float

sensor_frame_y_pos

Sensor frame y position [m] (Relative to the ‘calib_frame` frame).

Type:float

sensor_frame_z_pos

Sensor frame z position [m] (Relative to the ‘calib_frame` frame).

Type:float

sensor_frame_q1

Sensor frame x quaternion orientation [rad] (Relative to the ‘calib_frame`

frame).

Type:float

sensor_frame_q2

Sensor frame y quaternion orientation [rad] (Relative to the ‘calib_frame`

frame).

Type:float

sensor_frame_q3

Sensor frame z quaternion orientation [rad] (Relative to the ‘calib_frame`

frame).

Type:float

sensor_frame_q4

Sensor frame w quaternion orientation [rad] (Relative to the ‘calib_frame`

frame).

Type:float

sensor_frame_yaw

Sensor frame yaw orientation [rad] (Relative to the ‘panda_link0` frame).

Type:float

sensor_frame_pitch

Sensor frame pitch orientation [rad] (Relative to the ‘panda_link0` frame).

Type:float

sensor_frame_roll

Sensor frame roll orientation [rad] (Relative to the ‘panda_link0` frame).

Type:float

conf

Dynamic reconfigure server configuration dictionary.

Type:dict

set_sensor_pose_service(sensor_pose)

Give sensor pose of the calibration to the tf2 broadcaster.

Parameters:sensor_pose (dict) – Dictionary containing the pose of the sensor {x, y, z,q1, q2, q3, q4, yaw, pitch, roll}

dync_reconf_callback(config, level)

Dynamic reconfigure callback function. This callback function updates the values of the dynamic reconfigure server.

Parameters:

• config (dict) – Dictionary containing the dynamically reconfigured parameters.
• level (int) – A bitmask which will later be passed to the dynamic reconfigure callback. When the callback is called all of the level values for parameters that have been changed are added together and the resulting value is passed to the callback.

tf2_broadcaster_callback(event=None)

TF2 broadcaster callback function. This callback function broadcasts the tf2 frames.

Parameters:event (rospy.timer.TimerEvent, optional) – Structure passed in provides you timing information that can be useful when debugging or profiling, by default None

shutdown_hook()

This functions gets called when the node is shutdown. This function makes sure the previous calibration results are save to the calibration file before the node is shutdown.