drims2_motion_server.motion_server module

class drims2_motion_server.motion_server.MotionServer

Bases: Node

attach_object_callback(request, response)

broadcast_pose_goal_tf(pose_goal)

detach_object_callback(request, response)

init_virtual_to_ee_transform() → TransformStamped | None

Perform a TF lookup between the virtual end-effector frame and the real end-effector frame. Save the transform so it can be reused later without doing the lookup again.

If the virtual frame is the same as the real end-effector frame, no offset is needed.

move_to_joint_callback(goal_handle: ServerGoalHandle) → MoveToJoint_Result

move_to_joint_cancel_callback(goal_handle)

move_to_pose_callback(goal_handle: ServerGoalHandle) → MoveToPose_Result

move_to_pose_cancel_callback(goal_handle)

drims2_motion_server.motion_server.main(args=None)