Controller Handler¶

This handler allows you to easily turn on ROS controllers, and ensure other controllers get turned off when necessary.

class controller_handler.ControllerHandler(robot_name, debug=False)¶

Handle ROS controllers

get_controller_list()¶

Get the list of currently loaded controllers

get_controllers_with_state(states=None)¶

Get a list of controllers that have a particular state

Parameters: states (list or str) – List of states (or s single state) to check for (uninitialized, initialized, running, stopped, waiting, aborted, unknown)
Returns: controllers – List of controller names matching the states
Return type: list

load_controller(controller)¶

Load a ROS controller

play_program()¶

Start the program on the teach pendant. This ony works if you are in remote control mode

set_controller(controller)¶

Set which ROS controller is started, and stop all others

set_reserved_controllers(controllers)¶

Set which controllers are reserved (always running)

set_speed_slider(fraction)¶

Set the speed slider fraction

stop_program()¶

Stop the program on the teach pendant. This ony works if you are in remote control mode

switch_controller(start_controllers, stop_controllers, strictness=1, start_asap=False, timeout=0)¶

Switch ROS controllers

Parameters

start_controllers (list) – Names of the controllers to start
stop_controllers (list) – Names of the controllers to stop
strictness (int) – Strictness of controller switching
start_asap (bool) – Decide whether controllers should be started immediately
timeout (int) – Timeout (in seconds)

Returns

response – Service response from the controller manager

Return type

str

unload_controller(controller)¶

Unload a ROS controller

update_controller_list()¶: Update the controller list via a ROS service call.