def __init__(self,
robot_model,
arm_model=None,
arm_group_name="arm",
gripper_name="gripper",
turret_group_name="camera",
robot_name="locobot",
init_node=True,
dxl_joint_states="dynamixel/joint_states",
kobuki_joint_states="mobile_base/joint_states",
use_move_base_action=False):
self.dxl = InterbotixRobotXSCore(robot_model, robot_name, init_node,
dxl_joint_states)
self.camera = InterbotixTurretXSInterface(self.dxl, turret_group_name)
if rospy.has_param("/" + robot_name + "/use_base") and rospy.get_param(
"/" + robot_name + "/use_base") == True:
self.base = InterbotixKobukiInterface(robot_name,
kobuki_joint_states,
use_move_base_action)
if rospy.has_param("/" + robot_name +
"/use_perception") and rospy.get_param(
"/" + robot_name + "/use_perception") == True:
self.pcl = InterbotixPointCloudInterface(robot_name + "/pc_filter",
False)
if arm_model is not None:
self.arm = InterbotixArmXSInterface(self.dxl, arm_model,
arm_group_name)
self.gripper = InterbotixGripperXSInterface(self.dxl, gripper_name)
if rospy.has_param("/" + robot_name +
"/use_armtag") and rospy.get_param(
"/" + robot_name + "/use_armtag") == True:
self.armtag = InterbotixArmTagInterface(
robot_name + "/armtag", robot_name + "/apriltag", False)
def __init__(self,
robot_model,
robot_name=None,
position_p_gain=800,
init_node=True):
self.dxl = InterbotixRobotXSCore(robot_model, robot_name, init_node)
self.hex = InterbotixHexapodXSInterface(self.dxl, position_p_gain)
self.pixels = InterbotixRpiPixelInterface(self.dxl.robot_name)
def __init__(self,
robot_model,
arm_model=None,
arm_group_name="arm",
gripper_name="gripper",
turret_group_name="camera",
robot_name="locobot",
init_node=True,
dxl_joint_states="dynamixel/joint_states",
kobuki_joint_states="mobile_base/joint_states",
use_move_base_action=False):
# Create DYNAMIXEL core interface
self.dxl = InterbotixRobotXSCore(robot_model=robot_model,
robot_name=robot_name,
init_node=init_node,
joint_state_topic=dxl_joint_states)
# Create turret interface for the camera
self.camera = InterbotixTurretXSInterface(core=self.dxl,
group_name=turret_group_name)
# Create Kobuki Interface if using base
if rospy.has_param("/" + robot_name +
"/use_base") and rospy.get_param("/" + robot_name +
"/use_base"):
self.base = InterbotixKobukiInterface(
robot_name=robot_name,
kobuki_joint_states=kobuki_joint_states,
use_move_base_action=use_move_base_action)
# Create PointCloud Interface if using perception
if rospy.has_param("/" + robot_name +
"/use_perception") and rospy.get_param(
"/" + robot_name + "/use_perception"):
self.pcl = InterbotixPointCloudInterface(robot_name=robot_name +
"/pc_filter",
init_node=False)
# Create Arm and Gripper interfaces if LoCoBot has an arm (if arm_model was specified)
if arm_model is not None:
self.arm = InterbotixArmXSInterface(core=self.dxl,
robot_model=arm_model,
group_name=arm_group_name)
self.gripper = InterbotixGripperXSInterface(self.dxl, gripper_name)
# Create ArmTag interface if using armtag
if rospy.has_param("/" + robot_name +
"/use_armtag") and rospy.get_param(
"/" + robot_name + "/use_armtag"):
self.armtag = InterbotixArmTagInterface(
armtag_ns=robot_name + "/armtag",
apriltag_ns=robot_name + "/apriltag",
init_node=False)
def __init__(self,
robot_model,
group_name="arm",
gripper_name="gripper",
robot_name=None,
moving_time=2.0,
accel_time=0.3,
use_gripper=True,
gripper_pressure=0.5,
gripper_pressure_lower_limit=150,
gripper_pressure_upper_limit=350,
init_node=True):
self.dxl = InterbotixRobotXSCore(robot_model, robot_name, init_node)
self.arm = InterbotixArmXSInterface(self.dxl, robot_model, group_name,
moving_time, accel_time)
if gripper_name is not None:
self.gripper = InterbotixGripperXSInterface(
self.dxl, gripper_name, gripper_pressure,
gripper_pressure_lower_limit, gripper_pressure_upper_limit)
def __init__(self, robot_model, robot_name=None, group_name="turret", pan_profile_type="time", pan_profile_velocity=2.0, pan_profile_acceleration=0.3, tilt_profile_type="time", tilt_profile_velocity=2.0, tilt_profile_acceleration=0.3, init_node=True):
self.dxl = InterbotixRobotXSCore(robot_model, robot_name, init_node)
self.turret = InterbotixTurretXSInterface(self.dxl, group_name, pan_profile_type, pan_profile_velocity, pan_profile_acceleration, tilt_profile_type, tilt_profile_velocity, tilt_profile_acceleration)