def attach_cylinder(self,
name=u'cylinder',
height=1,
radius=1,
frame_id=None,
position=None,
orientation=None):
"""
Add a cylinder to the world and attach it to the robot at frame_id.
If pose is used, frame_id, position and orientation are ignored.
:type name: str
:type height: int
:param height: height of the cylinder. Default = 1
:type radius: int
:param radius: radius of the cylinder. Default = 1
:type frame_id: str
:type position: list
:type orientation: list
:rtype: UpdateWorldResponse
"""
cylinder = make_world_body_cylinder(name, height, radius)
pose = PoseStamped()
pose.header.stamp = rospy.Time.now()
pose.header.frame_id = str(
frame_id) if frame_id is not None else u'map'
pose.pose.position = Point(
*(position if position is not None else [0, 0, 0]))
pose.pose.orientation = Quaternion(
*(orientation if orientation is not None else [0, 0, 0, 1]))
req = UpdateWorldRequest(UpdateWorldRequest.ADD, cylinder, True, pose)
return self._update_world_srv.call(req)
def attach_cylinder(self, name=u'cylinder', height=1, radius=1, frame_id=None, position=None, orientation=None):
"""
:type name: str
:type size: list
:type frame_id: str
:type position: list
:type orientation: list
:rtype: UpdateWorldResponse
"""
cylinder = make_world_body_cylinder(name, height, radius)
pose = PoseStamped()
pose.header.stamp = rospy.Time.now()
pose.header.frame_id = str(frame_id) if frame_id is not None else u'map'
pose.pose.position = Point(*(position if position is not None else [0, 0, 0]))
pose.pose.orientation = Quaternion(*(orientation if orientation is not None else [0, 0, 0, 1]))
req = UpdateWorldRequest(UpdateWorldRequest.ADD, cylinder, True, pose)
return self.update_world.call(req)
def test_from_world_body_mesh(self, function_setup):
wb = make_world_body_cylinder()
urdf_obj = self.cls.from_world_body(wb)
assert len(urdf_obj.get_link_names()) == 1
assert len(urdf_obj.get_joint_names()) == 0
def test_from_world_body_cylinder(self, function_setup):
wb = make_world_body_cylinder()
urdf_obj = self.cls.from_world_body(wb,
calc_self_collision_matrix=False)
assert len(urdf_obj.get_link_names()) == 1
assert len(urdf_obj.get_joint_names()) == 0