Twist Handler

The twist interface, allowing you to easily specify cartesian speeds.

class twist_handler.TwistHandler(name, controller='twist_controller', debug=False, self_contained=False)

The twist interface

Parameters

• name (str) – Name of the Action Server

• controller (str) – The twist controller to use. Options are: twist_controller

• debug (bool) – Turn on debug print statements

• self_contained (bool) – Decide whether to set jog speed back to zero when object is deleted.

build_twist(linear, angular)

Build a twist message from vectors

Parameters

• linear (list) – The linear twist components [x,y,z]

• angular (list) – The angular twist components [x,y,z]

Returns

twist – The resulting twist message

Return type

geometry_msgs/Twist

convert_units(twist, direction='to_ros')

Convert units from the units defined in the trajectory config to ROS default units (or vice versa).

Parameters

• twist (dict) – twist to parse

• direction (str) – Which direction to convert. Options are to_ros or from_ros.

Returns

twist – Converted twist

Return type

dict

load_config(filename, directory=None)

Load a configuration from a file

Parameters

• filename (str) – Filename of configuration to load

• directory (str) – Directory where config files should be loaded from. Default is the config folder of this package

set_config(config)

Set the configuration

Parameters

config (dict) – Configuration to set

set_speed_factor(speed_factor)

Set the speed multiplier

Parameters

speed_factor (float) – Speed multiplier to use

set_twist(twist)

Run a trajectory.

Parameters

twist (dict or geometrty_msgs/Twist) – Twist to set.

shutdown()

Shut down gracefully