easy_motion.motion_server module

class easy_motion.motion_server.MotionServer

Bases: rclpy.node.Node

attach_object_callback(request, response)

broadcast_pose_goal_tf(pose_goal)

detach_object_callback(request, response)

init_virtual_to_ee_transform() → Optional[geometry_msgs.msg._transform_stamped.TransformStamped]

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: rclpy.action.server.ServerGoalHandle) → easy_motion_msgs.action._move_to_joint.MoveToJoint_Result

move_to_joint_cancel_callback(goal_handle)

move_to_pose_callback(goal_handle: rclpy.action.server.ServerGoalHandle) → easy_motion_msgs.action._move_to_pose.MoveToPose_Result

move_to_pose_cancel_callback(goal_handle)

easy_motion.motion_server.main(args=None)