Package edu.tufts.hrilab.diarcros.fetch

Class RobotDriver

java.lang.Object
edu.tufts.hrilab.diarcros.fetch.RobotDriver
public class RobotDriver extends Object

  • Field Details

    • log

      protected static org.slf4j.Logger log

  • Constructor Details

    • RobotDriver

      public RobotDriver()

  • Method Details

    • waitForNode

      public void waitForNode()

    • getCurrentTime

      public edu.tufts.hrilab.diarcros.msg.Time getCurrentTime()

    • getRosout

      public edu.tufts.hrilab.diarcros.msg.rosgraph_msgs.Log getRosout()

    • getImu2GyroOffsetAge

      public edu.tufts.hrilab.diarcros.msg.std_msgs.Float64 getImu2GyroOffsetAge()

    • getImu2Imu

      public edu.tufts.hrilab.diarcros.msg.sensor_msgs.Imu getImu2Imu()

    • getOdom

      public edu.tufts.hrilab.diarcros.msg.nav_msgs.Odometry getOdom()

    • getImu

      public edu.tufts.hrilab.diarcros.msg.sensor_msgs.Imu getImu()

    • getJointStates

      public edu.tufts.hrilab.diarcros.msg.sensor_msgs.JointState getJointStates()

    • getImu2GyroOffsetSamples

      public edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3Stamped getImu2GyroOffsetSamples()

    • getImu1GyroTemperature

      public edu.tufts.hrilab.diarcros.msg.sensor_msgs.Temperature getImu1GyroTemperature()

    • getImu2ImuRaw

      public edu.tufts.hrilab.diarcros.msg.sensor_msgs.Imu getImu2ImuRaw()

    • getImu1GyroOffsetSamples

      public edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3Stamped getImu1GyroOffsetSamples()

    • getBatteryState

      public edu.tufts.hrilab.diarcros.msg.power_msgs.BatteryState getBatteryState()

    • getImu1ImuRaw

      public edu.tufts.hrilab.diarcros.msg.sensor_msgs.Imu getImu1ImuRaw()

    • getRobotState

      public edu.tufts.hrilab.diarcros.msg.fetch_driver_msgs.RobotState getRobotState()

    • getDiagnostics

      public edu.tufts.hrilab.diarcros.msg.diagnostic_msgs.DiagnosticArray getDiagnostics()

    • getImu2GyroOffset

      public edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3Stamped getImu2GyroOffset()

    • getImu2GyroTemperature

      public edu.tufts.hrilab.diarcros.msg.sensor_msgs.Temperature getImu2GyroTemperature()

    • getImu1GyroOffset

      public edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3Stamped getImu1GyroOffset()

    • getImu1GyroOffsetAge

      public edu.tufts.hrilab.diarcros.msg.std_msgs.Float64 getImu1GyroOffsetAge()

    • getImu1Imu

      public edu.tufts.hrilab.diarcros.msg.sensor_msgs.Imu getImu1Imu()

    • sendBaseControllerCommand

      public void sendBaseControllerCommand(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Twist msg)

    • sendArmControllerCartesianTwistCommand

      public void sendArmControllerCartesianTwistCommand(edu.tufts.hrilab.diarcros.msg.geometry_msgs.TwistStamped msg)

    • sendBaseScan

      public void sendBaseScan(edu.tufts.hrilab.diarcros.msg.sensor_msgs.LaserScan msg)

    • sendTfStatic

      public void sendTfStatic(edu.tufts.hrilab.diarcros.msg.tf2_msgs.TFMessage msg)

    • sendTf

      public void sendTf(edu.tufts.hrilab.diarcros.msg.tf2_msgs.TFMessage msg)

    • callArmBreaker

      public boolean callArmBreaker(edu.tufts.hrilab.diarcros.msg.power_msgs.BreakerCommandRequest request, edu.tufts.hrilab.diarcros.msg.power_msgs.BreakerCommandResponse response)

    • callRobotDriverSetLoggerLevel

      public boolean callRobotDriverSetLoggerLevel(edu.tufts.hrilab.diarcros.msg.roscpp.SetLoggerLevelRequest request, edu.tufts.hrilab.diarcros.msg.roscpp.SetLoggerLevelResponse response)

    • callGripperBreaker

      public boolean callGripperBreaker(edu.tufts.hrilab.diarcros.msg.power_msgs.BreakerCommandRequest request, edu.tufts.hrilab.diarcros.msg.power_msgs.BreakerCommandResponse response)

    • callRobotDriverGetLoggers

      public boolean callRobotDriverGetLoggers(edu.tufts.hrilab.diarcros.msg.roscpp.GetLoggersRequest request, edu.tufts.hrilab.diarcros.msg.roscpp.GetLoggersResponse response)

    • callBaseBreaker

      public boolean callBaseBreaker(edu.tufts.hrilab.diarcros.msg.power_msgs.BreakerCommandRequest request, edu.tufts.hrilab.diarcros.msg.power_msgs.BreakerCommandResponse response)

    • cancelAllControlMsgsPointHeadGoals

      public void cancelAllControlMsgsPointHeadGoals()

    • cancelControlMsgsPointHeadGoal

      public void cancelControlMsgsPointHeadGoal() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • cancelControlMsgsPointHeadGoalsAtAndBeforeTime

      public void cancelControlMsgsPointHeadGoalsAtAndBeforeTime(edu.tufts.hrilab.diarcros.msg.Time time)

    • getControlMsgsPointHeadResult

      public control_msgs.PointHeadResult getControlMsgsPointHeadResult() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • getControlMsgsPointHeadState

      public org.ros.actionlib.state.SimpleClientGoalState getControlMsgsPointHeadState()

    • sendControlMsgsPointHeadGoal

      public void sendControlMsgsPointHeadGoal(edu.tufts.hrilab.diarcros.msg.control_msgs.PointHeadGoal goal) throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • waitForControlMsgsPointHeadResult

      public void waitForControlMsgsPointHeadResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForControlMsgsPointHeadResult

      public boolean waitForControlMsgsPointHeadResult(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException

    • waitForControlMsgsPointHeadServer

      public void waitForControlMsgsPointHeadServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForControlMsgsPointHeadServer

      public boolean waitForControlMsgsPointHeadServer(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException

    • waitForControlMsgsFollowJointTrajectoryResult

      public void waitForControlMsgsFollowJointTrajectoryResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForControlMsgsFollowJointTrajectoryResult

      public boolean waitForControlMsgsFollowJointTrajectoryResult(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException

    • waitForControlMsgsFollowJointTrajectoryServer

      public void waitForControlMsgsFollowJointTrajectoryServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForControlMsgsFollowJointTrajectoryServer

      public boolean waitForControlMsgsFollowJointTrajectoryServer(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException

    • cancelAllControlMsgsFollowJointTrajectoryGoals

      public void cancelAllControlMsgsFollowJointTrajectoryGoals()

    • cancelControlMsgsFollowJointTrajectoryGoal

      public void cancelControlMsgsFollowJointTrajectoryGoal() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • cancelControlMsgsFollowJointTrajectoryGoalsAtAndBeforeTime

      public void cancelControlMsgsFollowJointTrajectoryGoalsAtAndBeforeTime(edu.tufts.hrilab.diarcros.msg.Time time)

    • getControlMsgsFollowJointTrajectoryResult

      public control_msgs.FollowJointTrajectoryResult getControlMsgsFollowJointTrajectoryResult() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • getControlMsgsFollowJointTrajectoryState

      public org.ros.actionlib.state.SimpleClientGoalState getControlMsgsFollowJointTrajectoryState()

    • sendControlMsgsFollowJointTrajectoryGoal

      public void sendControlMsgsFollowJointTrajectoryGoal(edu.tufts.hrilab.diarcros.msg.control_msgs.FollowJointTrajectoryGoal goal) throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • cancelAllFetchDriverMsgsDisableChargingGoals

      public void cancelAllFetchDriverMsgsDisableChargingGoals()

    • cancelFetchDriverMsgsDisableChargingGoal

      public void cancelFetchDriverMsgsDisableChargingGoal() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • cancelFetchDriverMsgsDisableChargingGoalsAtAndBeforeTime

      public void cancelFetchDriverMsgsDisableChargingGoalsAtAndBeforeTime(edu.tufts.hrilab.diarcros.msg.Time time)

    • getFetchDriverMsgsDisableChargingResult

      public fetch_driver_msgs.DisableChargingResult getFetchDriverMsgsDisableChargingResult() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • getFetchDriverMsgsDisableChargingState

      public org.ros.actionlib.state.SimpleClientGoalState getFetchDriverMsgsDisableChargingState()

    • sendFetchDriverMsgsDisableChargingGoal

      public void sendFetchDriverMsgsDisableChargingGoal(edu.tufts.hrilab.diarcros.msg.fetch_driver_msgs.DisableChargingGoal goal) throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • waitForFetchDriverMsgsDisableChargingResult

      public void waitForFetchDriverMsgsDisableChargingResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForFetchDriverMsgsDisableChargingResult

      public boolean waitForFetchDriverMsgsDisableChargingResult(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException

    • waitForFetchDriverMsgsDisableChargingServer

      public void waitForFetchDriverMsgsDisableChargingServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForFetchDriverMsgsDisableChargingServer

      public boolean waitForFetchDriverMsgsDisableChargingServer(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException

    • cancelAllRobotControllersMsgsQueryControllerStatesGoals

      public void cancelAllRobotControllersMsgsQueryControllerStatesGoals()

    • cancelRobotControllersMsgsQueryControllerStatesGoal

      public void cancelRobotControllersMsgsQueryControllerStatesGoal() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • cancelRobotControllersMsgsQueryControllerStatesGoalsAtAndBeforeTime

      public void cancelRobotControllersMsgsQueryControllerStatesGoalsAtAndBeforeTime(edu.tufts.hrilab.diarcros.msg.Time time)

    • getRobotControllersMsgsQueryControllerStatesResult

      public robot_controllers_msgs.QueryControllerStatesResult getRobotControllersMsgsQueryControllerStatesResult() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • getRobotControllersMsgsQueryControllerStatesState

      public org.ros.actionlib.state.SimpleClientGoalState getRobotControllersMsgsQueryControllerStatesState()

    • sendRobotControllersMsgsQueryControllerStatesGoal

      public void sendRobotControllersMsgsQueryControllerStatesGoal(edu.tufts.hrilab.diarcros.msg.robot_controllers_msgs.QueryControllerStatesGoal goal) throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • waitForRobotControllersMsgsQueryControllerStatesResult

      public void waitForRobotControllersMsgsQueryControllerStatesResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForRobotControllersMsgsQueryControllerStatesResult

      public boolean waitForRobotControllersMsgsQueryControllerStatesResult(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException

    • waitForRobotControllersMsgsQueryControllerStatesServer

      public void waitForRobotControllersMsgsQueryControllerStatesServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForRobotControllersMsgsQueryControllerStatesServer

      public boolean waitForRobotControllersMsgsQueryControllerStatesServer(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException