garmi.configs

Classes

GarmiInteractiveMarkerChain	The kinematic chains controllable via interactive markers.
WorldWithGarmiConfig	World configuration for the GARMI robot.
GarmiVelocityInterface	Closed-loop velocity interface for the real GARMI robot.

Module Contents

class garmi.configs.GarmiInteractiveMarkerChain(*args, **kwds)

Bases: enum.Enum

The kinematic chains controllable via interactive markers.

LEFT_ARM

RIGHT_ARM

class garmi.configs.WorldWithGarmiConfig

Bases: giskardpy.model.world_config.WorldWithMobileRobot

World configuration for the GARMI robot.

Builds a map -> odom -> GARMI kinematic tree using an omni-drive base.

odometry_body_name: semantic_digital_twin.datastructures.prefixed_name.PrefixedName

Name of the body the robot drives relative to.

robot_class: type[semantic_digital_twin.robots.garmi.Garmi]

The robot class that is applied to the parsed description.

class garmi.configs.GarmiVelocityInterface

Bases: giskardpy.middleware.ros2.robot_interface_config.ClosedLoopRobotInterfaceConfig

Closed-loop velocity interface for the real GARMI robot.

Synchronizes the world state from the merged whole-robot joint state topic and sends arm joint velocities to the per-arm group controllers, as documented in garmi_description’s docs/real_robot.md (the public interface contract).

setup() → None

Implement this method to configure how Giskard reads the state of the robot and how it sends commands, using the sync_* and add_* methods.