main module
- class main.BulletROS[source]
Bases:
object- activate_airskin()[source]
Function to activate the airskin based on variables that had been set through service
- Returns:
- Return type:
- activate_airskin_cb(request)[source]
Callback for airskin activation request
- Parameters:
request (bullet_ros.srv.activateAirskinRequest) – request with all the info
- Returns:
- Return type:
- change_obj_pose(request)[source]
Change pose of other than robot object
- Parameters:
request (bullet_ros.srv.changeObjPoseRequest) – request fot the pose change
- Returns:
- Return type:
- grip(request)[source]
Grip request callback
- Parameters:
request (bullet_ros/srv/gripRequest) – request to close/open the gripper
- Returns:
- Return type:
- move()[source]
Based on move_type (velocity or position) move the robot in the given pose or fix it in place
- Returns:
- Return type:
- publish_other_objects()[source]
Function to publish other than robot objects to RVIZ
- Returns:
- Return type:
- 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
- Returns:
- Return type: