def _on_cm_change(self, cm_ns):
self._cm_ns = cm_ns
if cm_ns:
self._list_controllers = ControllerLister(cm_ns)
self._update_jtc_list()
else:
self._list_controllers = None
def __init__(self, ns="left_arm/"):
self._ns = ns
self._prefix = "controller_manager"
self._cm_ns = self._ns + self._prefix
self._service_names = [
"list_controllers", "unload_controller", "load_controller",
"switch_controller"
]
load_srv_name = self._cm_ns + "/load_controller"
self._load_srv = rospy.ServiceProxy(load_srv_name,
LoadController,
persistent=True)
unload_srv_name = self._cm_ns + "/unload_controller"
self._unload_srv = rospy.ServiceProxy(unload_srv_name,
UnloadController,
persistent=True)
switch_srv_name = self._cm_ns + "/switch_controller"
self._switch_srv = rospy.ServiceProxy(switch_srv_name,
SwitchController,
persistent=True)
list_srv_name = self._cm_ns + "/list_controllers"
self._list_srv = rospy.ServiceProxy(list_srv_name,
ListControllers,
persistent=True)
list_types_srv_name = self._cm_ns + "/list_controller_types"
self._list_types_srv = rospy.ServiceProxy(list_types_srv_name,
ListControllerTypes,
persistent=True)
self._controller_lister = ControllerLister(self._cm_ns)
def _on_cm_change(self, cm_ns):
self._cm_ns = cm_ns
if cm_ns:
self._list_controllers = ControllerLister(cm_ns)
# NOTE: Clear below is important, as different controller managers
# might have controllers with the same name but different
# configurations. Clearing forces controller re-discovery
self._widget.jtc_combo.clear()
self._update_jtc_list()
else:
self._list_controllers = None
def __init__(self, ns="franka_ros_interface", synchronous_pub = False, sim = False):
self._ns = ns if ns[0] == '/' else '/' + ns
self._prefix = "/controller_manager"
self._cm_ns = self._prefix
self._service_names = ["list_controllers",
"unload_controller",
"load_controller",
"switch_controller"]
load_srv_name = self._cm_ns + "/load_controller"
self._load_srv = rospy.ServiceProxy(load_srv_name,
LoadController,
persistent=True)
unload_srv_name = self._cm_ns + "/unload_controller"
self._unload_srv = rospy.ServiceProxy(unload_srv_name,
UnloadController,
persistent=True)
switch_srv_name = self._cm_ns + "/switch_controller"
self._switch_srv = rospy.ServiceProxy(switch_srv_name,
SwitchController,
persistent=True)
list_srv_name = self._cm_ns + "/list_controllers"
self._list_srv = rospy.ServiceProxy(list_srv_name,
ListControllers,
persistent=True)
list_types_srv_name = self._cm_ns + "/list_controller_types"
self._list_types_srv = rospy.ServiceProxy(list_types_srv_name,
ListControllerTypes,
persistent=True)
self._in_sim = sim
self._controller_lister = ControllerLister(self._cm_ns)
if self._in_sim:
self._non_motion_controllers = [self._ns[1:] + '/custom_franka_state_controller', self._ns[1:] + '/panda_gripper_controller', self._ns[1:] + '/effort_joint_gravity_controller', self._ns[1:] + '/joint_state_controller']
else:
self._non_motion_controllers = [self._ns[1:] + '/custom_franka_state_controller',self._ns[1:] + '/franka_state_controller']
self._assert_one_active_controller()
self._state_subscriber = rospy.Subscriber("%s/motion_controller/arm/joint_controller_states" %(self._ns),
JointControllerStates, self._on_controller_state, queue_size = 1,
tcp_nodelay = True)
self._param_config_clients = {}
self._dont_start_config_client = False
rospy.on_shutdown(self._clean_shutdown)
def _on_cm_change(self, cm_ns):
self._cm_ns = cm_ns
# Setup services for communicating with the selected controller manager
self._set_cm_services(cm_ns)
# Controller lister for the selected controller manager
if cm_ns:
self._controller_lister = ControllerLister(cm_ns)
self._update_controllers()
else:
self._controller_lister = None
def _on_cm_change(self, cm_ns):
self._cm_ns = cm_ns
self._list_controllers = ControllerLister(cm_ns) if cm_ns else (
lambda: [])
self._update_controllers_list()