Package intera_interface :: Module robot_enable :: Class RobotEnable

Class RobotEnable

object --+
         |
        RobotEnable

Class RobotEnable - simple control/status wrapper around robot state

enable() - enable all joints disable() - disable all joints reset() - reset all joints, reset all jrcp faults, disable the robot stop() - stop the robot, similar to hitting the e-stop button

Instance Methods

[hide private]

__init__(self, versioned=False)
Version checking capable constructor.

source code

_state_callback(self, msg)

source code

_toggle_enabled(self, status)

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intera_core_msgs/AssemblyState

state(self)
Returns the last known robot state.

source code

enable(self)
Enable all joints

source code

disable(self)
Disable all joints

source code

reset(self)
Reset all joints.

source code

stop(self)
Simulate an e-stop button being pressed.

source code

bool

version_check(self)
Verifies the version of the software running on the robot is compatible with this local version of the Intera SDK.

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Class Variables

[hide private]

param_lock = <thread.lock object>

Properties

[hide private]

Inherited from object: __class__

Method Details

[hide private]

init(self, versioned=False)
(Constructor)

source code

Version checking capable constructor.

Parameters:

versioned (bool) - True to check robot software version compatibility on initialization. False (default) to ignore.
The compatibility of robot versions to SDK (intera_interface) versions is defined in the intera_interface.VERSIONS_SDK2ROBOT.

By default, the class does not check, but all examples do. The example behavior can be overridden by changing the value of intera_interface.CHECK_VERSION to False.

Overrides: object.__init__

state(self)

source code

Returns the last known robot state.

Returns: intera_core_msgs/AssemblyState: Returns the last received AssemblyState message

reset(self)

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Reset all joints. Trigger JRCP hardware to reset all faults. Disable the robot.

stop(self)

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Simulate an e-stop button being pressed. Robot must be reset to clear the stopped state.

version_check(self)

source code

Verifies the version of the software running on the robot is compatible with this local version of the Intera SDK.

Currently uses the variables in intera_interface.settings and can be overridden for all default examples by setting CHECK_VERSION to False.

Returns: bool: Returns True if SDK version is compatible with robot Version, False otherwise

Class RobotEnable

__init__(self, versioned=False) (Constructor)

state(self)

reset(self)

stop(self)

version_check(self)

init(self, versioned=False)
(Constructor)