Package edu.tufts.hrilab.diarcros.pr2

Class ArmTrajController

java.lang.Object
edu.tufts.hrilab.diarcros.pr2.ArmTrajController
public class ArmTrajController extends Object

  • Constructor Details

    • ArmTrajController

      public ArmTrajController()

  • Method Details

    • waitForNode

      public void waitForNode()

    • waitForNode

      public boolean waitForNode(long timeout)
      Wait for node to be ready, with timeout. If timeout is reached and node is not ready, will return false.
      Parameters:
      timeout - how long to wait in seconds
      Returns:

    • isNodeReady

      public boolean isNodeReady()
      Is node connected to ROS and ready.
      Returns:

    • getRArmControllerState

      public edu.tufts.hrilab.diarcros.msg.pr2_controllers_msgs.JointTrajectoryControllerState getRArmControllerState()

    • getLArmControllerState

      public edu.tufts.hrilab.diarcros.msg.pr2_controllers_msgs.JointTrajectoryControllerState getLArmControllerState()

    • cancelAllRArmControllerFollowJointTrajectoryClientGoals

      public void cancelAllRArmControllerFollowJointTrajectoryClientGoals()

    • cancelRArmControllerFollowJointTrajectoryClientGoal

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

    • cancelRArmControllerFollowJointTrajectoryClientGoalsAtAndBeforeTime

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

    • getRArmControllerFollowJointTrajectoryClientResult

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

    • getRArmControllerFollowJointTrajectoryClientState

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

    • sendRArmControllerFollowJointTrajectoryClientGoal

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

    • waitForRArmControllerFollowJointTrajectoryClientResult

      public void waitForRArmControllerFollowJointTrajectoryClientResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForRArmControllerFollowJointTrajectoryClientResult

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

    • waitForRArmControllerFollowJointTrajectoryClientServer

      public void waitForRArmControllerFollowJointTrajectoryClientServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForRArmControllerFollowJointTrajectoryClientServer

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

    • cancelAllRArmControllerJointTrajectoryActionClientGoals

      public void cancelAllRArmControllerJointTrajectoryActionClientGoals()

    • cancelRArmControllerJointTrajectoryActionClientGoal

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

    • cancelRArmControllerJointTrajectoryActionClientGoalsAtAndBeforeTime

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

    • getRArmControllerJointTrajectoryActionClientResult

      public pr2_controllers_msgs.JointTrajectoryResult getRArmControllerJointTrajectoryActionClientResult() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • getRArmControllerJointTrajectoryActionClientState

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

    • sendRArmControllerJointTrajectoryActionClientGoal

      public void sendRArmControllerJointTrajectoryActionClientGoal(edu.tufts.hrilab.diarcros.msg.pr2_controllers_msgs.JointTrajectoryGoal goal) throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • waitForRArmControllerJointTrajectoryActionClientResult

      public void waitForRArmControllerJointTrajectoryActionClientResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForRArmControllerJointTrajectoryActionClientResult

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

    • waitForRArmControllerJointTrajectoryActionClientServer

      public void waitForRArmControllerJointTrajectoryActionClientServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForRArmControllerJointTrajectoryActionClientServer

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

    • cancelAllLArmControllerFollowJointTrajectoryClientGoals

      public void cancelAllLArmControllerFollowJointTrajectoryClientGoals()

    • cancelLArmControllerFollowJointTrajectoryClientGoal

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

    • cancelLArmControllerFollowJointTrajectoryClientGoalsAtAndBeforeTime

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

    • getLArmControllerFollowJointTrajectoryClientResult

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

    • getLArmControllerFollowJointTrajectoryClientState

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

    • sendLArmControllerFollowJointTrajectoryClientGoal

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

    • waitForLArmControllerFollowJointTrajectoryClientResult

      public void waitForLArmControllerFollowJointTrajectoryClientResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForLArmControllerFollowJointTrajectoryClientResult

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

    • waitForLArmControllerFollowJointTrajectoryClientServer

      public void waitForLArmControllerFollowJointTrajectoryClientServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForLArmControllerFollowJointTrajectoryClientServer

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

    • cancelAllLArmControllerJointTrajectoryActionClientGoals

      public void cancelAllLArmControllerJointTrajectoryActionClientGoals()

    • cancelLArmControllerJointTrajectoryActionClientGoal

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

    • cancelLArmControllerJointTrajectoryActionClientGoalsAtAndBeforeTime

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

    • getLArmControllerJointTrajectoryActionClientResult

      public pr2_controllers_msgs.JointTrajectoryResult getLArmControllerJointTrajectoryActionClientResult() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • getLArmControllerJointTrajectoryActionClientState

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

    • sendLArmControllerJointTrajectoryActionClientGoal

      public void sendLArmControllerJointTrajectoryActionClientGoal(edu.tufts.hrilab.diarcros.msg.pr2_controllers_msgs.JointTrajectoryGoal goal) throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • waitForLArmControllerJointTrajectoryActionClientResult

      public void waitForLArmControllerJointTrajectoryActionClientResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForLArmControllerJointTrajectoryActionClientResult

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

    • waitForLArmControllerJointTrajectoryActionClientServer

      public void waitForLArmControllerJointTrajectoryActionClientServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForLArmControllerJointTrajectoryActionClientServer

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

    • getCurrentTime

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