giskardpy.motion_statechart.ros2_nodes.ros_tasks

giskardpy.motion_statechart.ros2_nodes.ros_tasks#

Attributes#

`NavigateToPose`
`logger`
`Action`
`ActionGoal`
`ActionResult`
`ActionFeedback`

Classes#

`ActionServerTask`	Abstract base class for tasks that call a ROS2 action server.
`NavigateActionServerTask`	Node for calling a Navigation2 ROS2 action server to navigate to a given pose.

Module Contents#

giskardpy.motion_statechart.ros2_nodes.ros_tasks.NavigateToPose = None#

giskardpy.motion_statechart.ros2_nodes.ros_tasks.logger#

giskardpy.motion_statechart.ros2_nodes.ros_tasks.Action#

giskardpy.motion_statechart.ros2_nodes.ros_tasks.ActionGoal#

giskardpy.motion_statechart.ros2_nodes.ros_tasks.ActionResult#

giskardpy.motion_statechart.ros2_nodes.ros_tasks.ActionFeedback#

class giskardpy.motion_statechart.ros2_nodes.ros_tasks.ActionServerTask#

Bases: cramph.node.EndedByOwner, giskardpy.motion_statechart.graph_node.MotionStatechartNode, abc.ABC, Generic[Action, ActionGoal, ActionResult, ActionFeedback]

Abstract base class for tasks that call a ROS2 action server.

action_topic: str#: Topic name for the action server.

message_type: type[Action]#: Fully specified goal message that can be send out.

required_context_extensions() → tuple[type[cramph.context.ContextExtension], ...]#

Returns:: The types of the context extensions a node of this class reads once it is in a statechart; a statechart compiles such a node only in a context that holds them all.

abstract build_action_goal() → None#: Build the goal message this node sends to the action server.

set_up() → None#: Creates the action client and the message to send.

on_start() → None#: Creates a goal and sends it to the action server asynchronously.

goal_response_callback(future)#

Handles the server’s response to the goal submission.

On rejection a failure sentinel is stored so that on_tick() can return FALSE immediately.

result_callback(future)#

class giskardpy.motion_statechart.ros2_nodes.ros_tasks.NavigateActionServerTask#

Bases: ActionServerTask[nav2_msgs.action.NavigateToPose, nav2_msgs.action.NavigateToPose.Goal, nav2_msgs.action.NavigateToPose.Result, nav2_msgs.action.NavigateToPose.Feedback]

Node for calling a Navigation2 ROS2 action server to navigate to a given pose.

target_pose: krrood_spatial_math.spatial_types.Pose#: Target pose to which the robot should navigate.

base_link: semantic_digital_twin.world_description.world_entity.Body#: Base link of the robot, used for estimating the distance to the goal.

build_action_goal() → None#: Build the goal message this node sends to the action server.

build_artifacts() → cramph.node.NodeArtifacts#: Observes whether the robot is within 1cm of the target pose.

result_callback(future)#: Stores the navigation result returned by the action server.

on_tick() → cramph.data_types.ObservationStateValues#: Triggered when the node is ticked. .. warning:: This method is called inside a control loop, make sure it is fast. .. warning:: Only happens while the node is in state RUNNING. .. warning:: The result of this method takes precedence over the observation expression created in build(). :return: An optional observation state overwrite