RosClient

class compas_fab.backends.RosClient

Bases: Ros, ClientInterface

Interface to use ROS as backend via the rosbridge.

The connection is managed by roslibpy.

RosClient is a context manager type, so it’s best used in combination with the with statement to ensure resource deallocation.

Parameters:

hoststr

ROS bridge host. Defaults to localhost.

portint

Port of the ROS Bridge. Defaults to 9090.

is_securebool

True to indicate it should use a secure web socket, otherwise False.

planner_type: type

Type the planner backend to use. The backend must be a sub-class of compas_fab.backends.PlannerInterface. Defaults to MoveItPlanner.

Notes

For more examples, check out the ROS examples page.

Examples

>>> with RosClient() as client:
...     print('Connected:', client.is_connected)
Connected: True

Methods

execute_joint_trajectory	Execute a joint trajectory via the MoveIt infrastructure.
follow_configurations
follow_joint_trajectory	Follow the joint trajectory as computed by MoveIt planner.
get_configuration
load_robot	Load an entire robot instance -including model and semantics- directly from ROS.

Inherited Methods

add_attached_collision_mesh	Forwards call to appropriate method in the planner.
add_collision_mesh	Forwards call to appropriate method in the planner.
append_collision_mesh	Forwards call to appropriate method in the planner.
authenticate	Sends an authorization request to the server.
blocking_call_from_thread	Call the given function from a thread, and wait for the result synchronously for as long as the timeout will allow.
call_async_service	Send a service request to ROS once the connection is established.
call_in_thread	Call the given function in a thread.
call_later	Call the given function after a certain period of time has passed.
call_sync_service	Send a blocking service request to ROS once the connection is established, waiting for the result to be return.
close	Disconnect from ROS.
connect	Connect to ROS.
delete_param	Delete parameter from the ROS Parameter Server.
emit	Trigger a named event.
forward_kinematics	Forwards call to appropriate method in the planner.
get_action_servers	Retrieve list of action servers in ROS.
get_message_details	Retrieve details of a message type in ROS.
get_node_details	Retrieve list subscribed topics, publishing topics and services of a specific node name.
get_nodes	Retrieve list of active node names in ROS.
get_param	Get the value of a parameter from the ROS Parameter Server.
get_params	Retrieve list of param names from the ROS Parameter Server.
get_planning_scene	Forwards call to appropriate method in the planner.
get_service_request_callback	Get the callback which, when called, sends the service request.
get_service_request_details	Retrieve details of a ROS Service Request.
get_service_response_details	Retrieve details of a ROS Service Response.
get_service_type	Retrieve the type of a service in ROS.
get_services	Retrieve list of active service names in ROS.
get_services_for_type	Retrieve list of services in ROS matching the specified type.
get_time	Retrieve the current ROS time.
get_topic_type	Retrieve the type of a topic in ROS.
get_topics	Retrieve list of topics in ROS.
get_topics_for_type	Retrieve list of topics in ROS matching the specified type.
inverse_kinematics	Forwards call to appropriate method in the planner.
off	Remove a callback from an arbitrary named event.
on	Add a callback to an arbitrary named event.
on_ready	Add a callback to be executed when the connection is established.
plan_cartesian_motion	Forwards call to appropriate method in the planner.
plan_motion	Forwards call to appropriate method in the planner.
remove_attached_collision_mesh	Forwards call to appropriate method in the planner.
remove_collision_mesh	Forwards call to appropriate method in the planner.
reset_planning_scene	Forwards call to appropriate method in the planner.
run	Kick-starts a non-blocking event loop.
run_event_loop
run_forever	Kick-starts a blocking loop to wait for events.
send_on_ready	Send message to ROS once the connection is established.
set_param	Set the value of a parameter from the ROS Parameter Server.
set_status_level
terminate	Signals the termination of the main event loop.