def pose(self):
"""
@rtype: geometry_msgs.Pose
"""
return conversions.list_to_pose_stamped(
self._robot._r.get_link_pose(self._name),
self._robot.get_planning_frame())
def get_random_pose(self, end_effector_link=""):
if len(end_effector_link) > 0 or self.has_end_effector_link():
return conversions.list_to_pose_stamped(
self._g.get_random_pose(end_effector_link),
self.get_planning_frame())
else:
raise MoveItCommanderException(
"There is no end effector to get the pose of")
def get_current_pose(self, end_effector_link=""):
""" Get the current pose of the end-effector of the group. Throws an exception if there is not end-effector. """
if len(end_effector_link) > 0 or self.has_end_effector_link():
return conversions.list_to_pose_stamped(
self._g.get_current_pose(end_effector_link),
self.get_planning_frame())
else:
raise MoveItCommanderException(
"There is no end effector to get the pose of")
def baxter_ik_move(self, limb, rpy_pose):
quaternion_pose = conversions.list_to_pose_stamped(rpy_pose, "base")
node = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService"
ik_service = rospy.ServiceProxy(node, SolvePositionIK)
ik_request = SolvePositionIKRequest()
hdr = Header(stamp=rospy.Time.now(), frame_id="base")
ik_request.pose_stamp.append(quaternion_pose)
try:
rospy.wait_for_service(node, 5.0)
ik_response = ik_service(ik_request)
except (rospy.ServiceException, rospy.ROSException), error_message:
rospy.logerr("Service request failed: %r" % (error_message, ))
sys.exit("ERROR - baxter_ik_move - Failed to append pose")
def pose(self):
return conversions.list_to_pose_stamped(self._robot._r.get_link_pose(self._name), self._robot.get_planning_frame())
def get_random_pose(self, end_effector_link = ""):
if len(end_effector_link) > 0 or self.has_end_effector_link():
return conversions.list_to_pose_stamped(self._g.get_random_pose(end_effector_link), self.get_planning_frame())
else:
raise MoveItCommanderException("There is no end effector to get the pose of")
def get_current_pose(self, end_effector_link = ""):
""" Get the current pose of the end-effector of the group. Throws an exception if there is not end-effector. """
if len(end_effector_link) > 0 or self.has_end_effector_link():
return conversions.list_to_pose_stamped(self._g.get_current_pose(end_effector_link), self.get_planning_frame())
else:
raise MoveItCommanderException("There is no end effector to get the pose of")
def pose(self):
return conversions.list_to_pose_stamped(
self._robot._r.get_link_pose(self._name),
self._robot.get_planning_frame())
def get_link_pose(self, name):
return conversions.list_to_pose_stamped(self._r.get_link_pose(name), self.get_planning_frame())
