RosClient¶

class compas_fab.backends.RosClient(host='localhost', port=9090, is_secure=False, planner_backend='moveit')[source]¶

Bases: roslibpy.ros.Ros, compas_fab.backends.interfaces.client.ClientInterface

Interface to use ROS as backend via the rosbridge.

The connection is managed by roslibpy.

RosClient is a context manager type, so it’s best used in combination with the with statement to ensure resource deallocation.

Parameters

host (str) – ROS bridge host. Defaults to localhost.
port (int) – Port of the ROS Bridge. Defaults to 9090.
is_secure (bool) – True to indicate it should use a secure web socket, otherwise False.
planner_backend (str) – Name of the planner backend plugin to use. The plugin must be a sub-class of compas_fab.backends.PlannerInterface. Defaults to "moveit", making use of compas_fab.backends.MoveItPlanner.

Examples

>>> from compas_fab.backends import RosClient
>>> with RosClient() as client:
...     print('Connected: %s' % client.is_connected)
Connected: True

Note

For more examples, check out the ROS examples page.

Methods

`__init__`([host, port, is_secure, …])	Initialize self.
`add_attached_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`add_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`append_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`blocking_call_from_thread`(callback, timeout)	Call the given function from a thread, and wait for the result synchronously for as long as the timeout will allow.
`call_async_service`(message, callback, errback)	Send a service request to ROS once the connection is established.
`call_in_thread`(callback)	Call the given function in a thread.
`call_later`(delay, callback)	Call the given function after a certain period of time has passed.
`call_sync_service`(message, timeout)	Send a blocking service request to ROS once the connection is established, waiting for the result to be return.
`close`()	Disconnect from ROS.
`connect`()	Connect to ROS.
`delete_param`(name[, callback, errback])	Delete parameter from the ROS Parameter Server.
`emit`(event_name, *args)	Trigger a named event.
`execute_joint_trajectory`(joint_trajectory[, …])	Execute a joint trajectory via the MoveIt infrastructure.
`follow_configurations`(callback, joint_names, …)
`follow_joint_trajectory`(joint_trajectory[, …])	Follow the joint trajectory as computed by MoveIt planner.
`forward_kinematics`(args, *kwargs)	Forwards call to appropriate method in the planner.
`get_action_servers`(callback[, errback])	Retrieve list of action servers in ROS.
`get_configuration`()
`get_message_details`(message_type[, …])	Retrieve details of a message type in ROS.
`get_node_details`(node[, callback, errback])	Retrieve list subscribed topics, publishing topics and services of a specific node name.
`get_nodes`([callback, errback])	Retrieve list of active node names in ROS.
`get_param`(name[, callback, errback])	Get the value of a parameter from the ROS Parameter Server.
`get_params`([callback, errback])	Retrieve list of param names from the ROS Parameter Server.
`get_planning_scene`(args, *kwargs)	Forwards call to appropriate method in the planner.
`get_service_request_callback`(message)	Get the callback which, when called, sends the service request.
`get_service_request_details`(type[, …])	Retrieve details of a ROS Service Request.
`get_service_response_details`(type[, …])	Retrieve details of a ROS Service Response.
`get_service_type`(service_name[, callback, …])	Retrieve the type of a service in ROS.
`get_services`([callback, errback])	Retrieve list of active service names in ROS.
`get_services_for_type`(service_type[, …])	Retrieve list of services in ROS matching the specified type.
`get_time`([callback, errback])	Retrieve the current ROS time.
`get_topic_type`(topic[, callback, errback])	Retrieve the type of a topic in ROS.
`get_topics`([callback, errback])	Retrieve list of topics in ROS.
`get_topics_for_type`(topic_type[, callback, …])	Retrieve list of topics in ROS matching the specified type.
`inverse_kinematics`(args, *kwargs)	Forwards call to appropriate method in the planner.
`load_robot`([load_geometry, urdf_param_name, …])	Load an entire robot instance -including model and semantics- directly from ROS.
`off`(event_name[, callback])	Remove a callback from an arbitrary named event.
`on`(event_name, callback)	Add a callback to an arbitrary named event.
`on_ready`(callback[, run_in_thread])	Add a callback to be executed when the connection is established.
`plan_cartesian_motion`(args, *kwargs)	Forwards call to appropriate method in the planner.
`plan_motion`(args, *kwargs)	Forwards call to appropriate method in the planner.
`remove_attached_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`remove_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`reset_planning_scene`(args, *kwargs)	Forwards call to appropriate method in the planner.
`run`([timeout])	Kick-starts a non-blocking event loop.
`run_event_loop`()
`run_forever`()	Kick-starts a blocking loop to wait for events.
`send_on_ready`(message)	Send message to ROS once the connection is established.
`set_param`(name, value[, callback, errback])	Set the value of a parameter from the ROS Parameter Server.
`set_status_level`(level, identifier)
`terminate`()	Signals the termination of the main event loop.

Attributes

`id_counter`	Generate an auto-incremental ID starting from 1.
`is_connected`	Indicate if the ROS connection is open or not.

RosClient¶

COMPAS