Package edu.tufts.hrilab.diarcros.pr2

Class TorsoControllerPositionJointActionNode

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

  • Constructor Details

    • TorsoControllerPositionJointActionNode

      public TorsoControllerPositionJointActionNode()

  • 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:

    • getRosout

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

    • getTorsoControllerCommand

      public edu.tufts.hrilab.diarcros.msg.trajectory_msgs.JointTrajectory getTorsoControllerCommand()

    • sendTorsoControllerState

      public void sendTorsoControllerState(edu.tufts.hrilab.diarcros.msg.pr2_controllers_msgs.JointTrajectoryControllerState msg)

    • sendClock

      public void sendClock(edu.tufts.hrilab.diarcros.msg.rosgraph_msgs.Clock msg)

    • callTorsoControllerPositionJointActionNodeGetLoggers

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

    • callTorsoControllerPositionJointActionNodeSetLoggerLevel

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

    • cancelAllPr2ControllersMsgsSingleJointPositionGoals

      public void cancelAllPr2ControllersMsgsSingleJointPositionGoals()

    • cancelPr2ControllersMsgsSingleJointPositionGoal

      public void cancelPr2ControllersMsgsSingleJointPositionGoal() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • cancelPr2ControllersMsgsSingleJointPositionGoalsAtAndBeforeTime

      public void cancelPr2ControllersMsgsSingleJointPositionGoalsAtAndBeforeTime(edu.tufts.hrilab.diarcros.msg.Time time)

    • getPr2ControllersMsgsSingleJointPositionResult

      public pr2_controllers_msgs.SingleJointPositionResult getPr2ControllersMsgsSingleJointPositionResult() throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • getPr2ControllersMsgsSingleJointPositionState

      public org.ros.actionlib.state.SimpleClientGoalState getPr2ControllersMsgsSingleJointPositionState()

    • sendPr2ControllersMsgsSingleJointPositionGoal

      public void sendPr2ControllersMsgsSingleJointPositionGoal(edu.tufts.hrilab.diarcros.msg.pr2_controllers_msgs.SingleJointPositionGoal goal) throws org.ros.exception.RosException
      Throws:
      org.ros.exception.RosException

    • waitForPr2ControllersMsgsSingleJointPositionResult

      public void waitForPr2ControllersMsgsSingleJointPositionResult() throws InterruptedException
      Throws:
      InterruptedException

    • waitForPr2ControllersMsgsSingleJointPositionResult

      public boolean waitForPr2ControllersMsgsSingleJointPositionResult(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException

    • waitForPr2ControllersMsgsSingleJointPositionServer

      public void waitForPr2ControllersMsgsSingleJointPositionServer() throws InterruptedException
      Throws:
      InterruptedException

    • waitForPr2ControllersMsgsSingleJointPositionServer

      public boolean waitForPr2ControllersMsgsSingleJointPositionServer(long timeout, TimeUnit units) throws InterruptedException
      Throws:
      InterruptedException