RosClient

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

Bases: Ros, 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

`execute_joint_trajectory`	Execute a joint trajectory via the MoveIt infrastructure.
`follow_configurations`
`follow_joint_trajectory`	Follow the joint trajectory as computed by MoveIt planner.
`get_configuration`
`load_robot`	Load an entire robot instance -including model and semantics- directly from ROS.

Inherited Methods

`add_attached_collision_mesh`	Forwards call to appropriate method in the planner.
`add_collision_mesh`	Forwards call to appropriate method in the planner.
`append_collision_mesh`	Forwards call to appropriate method in the planner.
`authenticate`	Sends an authorization request to the server.
`blocking_call_from_thread`	Call the given function from a thread, and wait for the result synchronously for as long as the timeout will allow.
`call_async_service`	Send a service request to ROS once the connection is established.
`call_in_thread`	Call the given function in a thread.
`call_later`	Call the given function after a certain period of time has passed.
`call_sync_service`	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`	Delete parameter from the ROS Parameter Server.
`emit`	Trigger a named event.
`forward_kinematics`	Forwards call to appropriate method in the planner.
`get_action_servers`	Retrieve list of action servers in ROS.
`get_message_details`	Retrieve details of a message type in ROS.
`get_node_details`	Retrieve list subscribed topics, publishing topics and services of a specific node name.
`get_nodes`	Retrieve list of active node names in ROS.
`get_param`	Get the value of a parameter from the ROS Parameter Server.
`get_params`	Retrieve list of param names from the ROS Parameter Server.
`get_planning_scene`	Forwards call to appropriate method in the planner.
`get_service_request_callback`	Get the callback which, when called, sends the service request.
`get_service_request_details`	Retrieve details of a ROS Service Request.
`get_service_response_details`	Retrieve details of a ROS Service Response.
`get_service_type`	Retrieve the type of a service in ROS.
`get_services`	Retrieve list of active service names in ROS.
`get_services_for_type`	Retrieve list of services in ROS matching the specified type.
`get_time`	Retrieve the current ROS time.
`get_topic_type`	Retrieve the type of a topic in ROS.
`get_topics`	Retrieve list of topics in ROS.
`get_topics_for_type`	Retrieve list of topics in ROS matching the specified type.
`inverse_kinematics`	Forwards call to appropriate method in the planner.
`off`	Remove a callback from an arbitrary named event.
`on`	Add a callback to an arbitrary named event.
`on_ready`	Add a callback to be executed when the connection is established.
`plan_cartesian_motion`	Forwards call to appropriate method in the planner.
`plan_motion`	Forwards call to appropriate method in the planner.
`remove_attached_collision_mesh`	Forwards call to appropriate method in the planner.
`remove_collision_mesh`	Forwards call to appropriate method in the planner.
`reset_planning_scene`	Forwards call to appropriate method in the planner.
`run`	Kick-starts a non-blocking event loop.
`run_event_loop`
`run_forever`	Kick-starts a blocking loop to wait for events.
`send_on_ready`	Send message to ROS once the connection is established.
`set_param`	Set the value of a parameter from the ROS Parameter Server.
`set_status_level`
`terminate`	Signals the termination of the main event loop.

RosClient

COMPAS