teleop_tasks.ros_gz_joint_client module

Takes in joint states and publishes them to a ros_controller.

Takes in joint states and publishes them to a ros_controller that then controls the left hand in gazebo

SUBSCRIBERS:

/left_hand/joint_states: sensor/msgs/JointState

ACTION CLIENTS:

/joint_trajectory_controller/follow_joint_trajectory:

control_msgs/FollowJointTrajectory

class teleop_tasks.ros_gz_joint_client.Ros_gz_joint_client

Bases: Node

Send commands to a ros controller.

Args:

Node (Node): ros_gz_joint_client node

jointStateListener(msg=<class 'sensor_msgs.msg._joint_state.JointState'>)

Listen to joint states for the left_hand.

Args:

msg (JointState): Joint states published to /left_hand/joint_states. Defaults to JointState.

async timerCallback()

Timer for ros_gz_client.

teleop_tasks.ros_gz_joint_client.createJointNamedict()

Create the dict that maps joint states from the haptx.

Returns

jointDict (dictionary): The dictionary that maps

joint names from the haptx to joint names on the left hand model

teleop_tasks.ros_gz_joint_client.main(args=None)

Objects’ main function.