robots_ros

ROS robot interface implementations.

This module defines ROS-backed robot wrappers used by RobotBlockSet robot interfaces. It provides strategy-to-controller mapping, controller switching, logger configuration, and joint- and Cartesian-command forwarding.

class robotblockset.ros.robots_ros.robot_ros(ns: str = '', init_node: bool = True, multi_node: bool = False, control_strategy: str | None = None, strategy_controller_mapping: dict | None = None)[source]

Bases: robot

Base class for ROS-backed robot interfaces.

Attributes:

  • _namespace (str) – ROS namespace prefix used by the robot wrapper.

  • controller_helper (controller_manager_proxy) – Helper object for loading and switching ROS controllers.

  • controller (Any) – Active RobotBlockSet controller wrapper.

Initialize the generic ROS robot interface.

Parameters:

  • ns (str, optional) – ROS namespace of the robot.

  • init_node (bool, optional) – If True, initialize a ROS node for the wrapper.

  • multi_node (bool, optional) – If True, initialize the ROS node in anonymous mode.

  • control_strategy (str, optional) – Initial RobotBlockSet control strategy.

  • strategy_controller_mapping (dict[str, tuple[str, Type[Any]]] | None, optional) – Mapping from RobotBlockSet strategy names to pairs of ROS controller names and controller wrapper classes.

Notes

The constructor initializes the controller-manager helper and optionally activates the requested control strategy.

__init__(ns: str = '', init_node: bool = True, multi_node: bool = False, control_strategy: str | None = None, strategy_controller_mapping: dict | None = None) → None[source]

Initialize the generic ROS robot interface.

Parameters:

  • ns (str, optional) – ROS namespace of the robot.

  • init_node (bool, optional) – If True, initialize a ROS node for the wrapper.

  • multi_node (bool, optional) – If True, initialize the ROS node in anonymous mode.

  • control_strategy (str, optional) – Initial RobotBlockSet control strategy.

  • strategy_controller_mapping (dict[str, tuple[str, Type[Any]]] | None, optional) – Mapping from RobotBlockSet strategy names to pairs of ROS controller names and controller wrapper classes.

Notes

The constructor initializes the controller-manager helper and optionally activates the requested control strategy.

GetStrategy() → str | None[source]

Return the currently selected RobotBlockSet control strategy.

Returns:

Name of the active control strategy.

Return type:

str | None

AvailableStrategies() → List[str][source]

List the control strategies supported by the ROS robot wrapper.

Returns:

Available RobotBlockSet control strategies.

Return type:

list[str]

SetStrategy(new_strategy: str) → bool | None[source]

Switch the active ROS controller to match a RobotBlockSet strategy.

Parameters:

new_strategy (str) – Requested RobotBlockSet control strategy.

Returns:

False if no switch was needed or if switching failed. Returns None when the switch succeeds.

Return type:

bool | None

Notes

Existing motion is stopped before switching controllers.

SetLoggerLevel(level: str = 'info', logger: str | None = None) → None[source]

Set the ROS logger verbosity level for the active controller.

Parameters:

  • level (str, optional) – Target logger level.

  • logger (str, optional) – Explicit logger name. If None, use the active controller logger.

GoTo_q(q: ndarray, qdot: ndarray, trq: ndarray, wait: float, **kwargs: Any) → int[source]

Command the robot in joint space through the active ROS controller.

Parameters:

  • q (JointConfigurationType) – Desired joint positions.

  • qdot (JointVelocityType) – Desired joint velocities.

  • trq (JointTorqueType) – Desired joint torques.

  • wait (float) – Synchronization time after the command is sent.

Returns:

Motion result code.

Return type:

int

GoTo_X(x: ndarray, xdot: ndarray, trq: ndarray, wait: float, do_not_publish_msg: bool = False, **kwargs: Any) → int[source]

Command the robot in Cartesian space through the active ROS controller.

Parameters:

  • x (Pose3DType) – Desired Cartesian pose.

  • xdot (Velocity3DType) – Desired Cartesian twist.

  • trq (WrenchType) – Desired end-effector wrench.

  • wait (float) – Synchronization time after the command is sent.

  • do_not_publish_msg (bool, optional) – Legacy flag kept for compatibility.

  • **kwargs (Any) – Additional controller-specific keyword arguments.

Returns:

Motion result code.

Return type:

int

Classes

robot_ros([ns, init_node, multi_node, ...])

Base class for ROS-backed robot interfaces.