RosClient.load_robot
- RosClient.load_robot(load_geometry=False, urdf_param_name='/robot_description', srdf_param_name='/robot_description_semantic', precision=None, local_cache_directory=None)[source]
Load an entire robot instance -including model and semantics- directly from ROS.
- Parameters:
- load_geometrybool, optional
True
to load the robot’s geometry, otherwiseFalse
to load only the model and semantics.- urdf_param_namestr, optional
Parameter name where the URDF is defined. If not defined, it will default to
/robot_description
.- srdf_param_namestr, optional
Parameter name where the SRDF is defined. If not defined, it will default to
/robot_description_semantic
.- precisionint
Defines precision for importing/loading meshes. Defaults to
compas.tolerance.TOL.precision
.- local_cache_directorystr, optional
Directory where the robot description (URDF, SRDF and meshes) are stored. This differs from the directory taken as parameter by the
RosFileServerLoader
in that it points directly to the specific robot package, not to a global workspace storage for all robots. If not assigned, the robot will not be cached locally.
Examples
>>> with RosClient() as client: ... robot = client.load_robot() ... print(robot.name) ur5_robot