main module

class main.BulletROS[source]

Bases: object

change_obj_pose(request)[source]

Change pose of other than robot object

Parameters:: request (bullet_ros.srv.changeObjPoseRequest) – request fot the pose change
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move()[source]

Based on move_type (velocity or position) move the robot in the given pose or fix it in place

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publish_other_objects()[source]

Function to publish other than robot objects to RVIZ

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read(msg)[source]

Function to read the message from the RobotHW interface and send it to the bullet

Parameters:: msg (bullet_ros.msg.ros_to_bullet) – msg with velocity and joint angles
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read_state()[source]

Read current robot state to be sent back to RobotGH interface

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