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second_assignment documentation!

This is the documentation of the second_assignment package!

second_assignment Module

Module author: Federico Malatesta S4803603@studenti.unige.it

Subscribes to topic:

/odom

Publishes to topic:

/pos_vel_topic

Client of the action server:

/reaching_goal

class scripts.node_action_client.GoalStatus(*args, **kwds)

Bases: Message

ABORTED = 4

ACTIVE = 1

LOST = 9

PENDING = 0

PREEMPTED = 2

PREEMPTING = 6

RECALLED = 8

RECALLING = 7

REJECTED = 5

SUCCEEDED = 3

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

goal_id

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

status

text

classmethod to_string(n)

class scripts.node_action_client.Odometry(*args, **kwds)

Bases: Message

child_frame_id

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

header

pose

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

twist

class scripts.node_action_client.PlanningAction(*args, **kwds)

Bases: Message

action_feedback

action_goal

action_result

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

class scripts.node_action_client.PlanningGoal(*args, **kwds)

Bases: Message

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

target_pose

class scripts.node_action_client.PlanningResult(*args, **kwds)

Bases: Message

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

class scripts.node_action_client.Point(*args, **kwds)

Bases: Message

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

x

y

z

class scripts.node_action_client.Pos_vel(*args, **kwds)

Bases: Message

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

vel_x

vel_z

x

y

class scripts.node_action_client.Pose(*args, **kwds)

Bases: Message

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

orientation

position

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

class scripts.node_action_client.SetBool

Bases: object

class scripts.node_action_client.Twist(*args, **kwds)

Bases: Message

angular

deserialize(str)

unpack serialized message in str into this message instance :param str: byte array of serialized message, str

deserialize_numpy(str, numpy)

unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message, str :param numpy: numpy python module

linear

serialize(buff)

serialize message into buffer :param buff: buffer, StringIO

serialize_numpy(buff, numpy)

serialize message with numpy array types into buffer :param buff: buffer, StringIO :param numpy: numpy python module

scripts.node_action_client.action_client()

Function used to create the action client and send the goal to the action server, furthermore it checks if the goal has been reached using the feedback received from the action server and it allows the user to cancel the goal if needed. Then once the goal has been reached it asks the user if he wants to restart the program or quit it.

scripts.node_action_client.feedback_cb(feedback)

Callback function used to store the feedback received from the action server

Parameters:

feedback – feedback received from the action server which contains msg type actual_pose

scripts.node_action_client.pub_pos_vel(message)

Callback function used to publish the position and velocity of the robot to the topic /pos_vel_topic using a custom message type Pos_vel

Parameters:

message – message received from the topic /odom type Odometry