robot_programming Robot Interface




turtlebot-interface [クラス]

  :super   robot-interface 

:slots nil




:bumper-vector nil [メソッド]
Get bumper value vector.


:button-vector nil [メソッド]
Get button value vector.


:wheel-drop-vector nil [メソッド]
Get wheel drop sensor vector.


:cliff-vector nil [メソッド]
Get cliff sensor vector.


:cliff-bottom-vector nil [メソッド]
Get cliff bottom vector.


:imucoords nil [メソッド]
Get imucoords.


:power-system-vector nil [メソッド]
Get power system vector.


:publish-led id value [メソッド]
Publish topic to turn on/off LEG. id should be 1-2. Value should be :black, :green, :orange, and :red.


:publish-sound value [メソッド]
Publish topic to turn on sound. value should be :on, :off, :recharge, :button, :error, :cleaningstart, and :cleaningend.


:go-stop &optional (force-stop t) [メソッド]
Stop go-velocity mode.


:go-pos x y &optional (d 0) [メソッド]
Move to desired x y position and yaw orientation. x and y is [m] and d is [deg].


:go-velocity x y d &optional (msec 1000) &key (stop t) (wait) [メソッド]
Moving by desired x y translational velocity and yaw rotational velocity. x and y is [m/s] and d is [deg/s].


:initialize-turtlebot-ros nil [メソッド]



:kobuki-bumper-states-callback msg
[メソッド]



:kobuki-button-states-callback msg
[メソッド]



:kobuki-power-system-states-callback msg
[メソッド]



:kobuki-wheel-drop-states-callback msg
[メソッド]



:kobuki-cliff-states-callback msg
[メソッド]



:kobuki-imu-states-callback msg
[メソッド]



:laptop-charge-callback msg
[メソッド]



:def-vector-value &key (simulate-func #'(lambda nil (instantiate float-vector 3))) (raw-data-name) (vector-length 3) (state-name :state) (value-name)
[メソッド]



:raw-bumper-data nil
[メソッド]



:raw-button-data nil
[メソッド]



:raw-wheel-drop-data nil
[メソッド]



:raw-cliff-data nil
[メソッド]



:raw-imu-data nil
[メソッド]



:imurot nil
[メソッド]



:update-robot-state &rest args
[メソッド]



:move-to coords &key (retry 10) (frame-id /world) (wait-for-server-timeout 5)
[メソッド]



:init &rest args
[メソッド]



:add-controller &rest args
[メソッド]




dxl-7dof-arm-interface [クラス]


  :super   robot-interface 

:slots nil




:set-compliance-slope id slope [メソッド]
Set compliance slope for one joint. id should be 1-7. slope is 32 by default.


:compliance-slope-vector av [メソッド]
Set compliance slope vector for all joints. #f(32 32 32 32 32 32 32) by default.


:set-torque-limit id torque-limit [メソッド]
Set torque limit for one joint. id should be 1-7. torque-limit should be within [0, 1].


:torque-enable id torque-enable [メソッド]
Configure joint torque mode for one joint. id sohuld be 1-7. If torque-enable is t, move to torque control mode, otherwise, move to joint positoin mode.


:servo-on id [メソッド]
Servo On for one joint. id should be 1-7.


:servo-off id [メソッド]
Servo Off for one joint. id should be 1-7.


:servo-on-all nil [メソッド]
Servo On for all joints.


:servo-off-all nil [メソッド]
Servo Off for all joints.


:start-grasp &optional (arm :arm) &key ((:gain g) 0.5) ((:objects objs) objects) [メソッド]
Start grasp mode.


:stop-grasp &optional (arm :arm) &key (wait nil) [メソッド]
Stop grasp mode.


:initialize-arm-robot-ros nil [メソッド]



:dynamixel-motor-states-callback msg
[メソッド]



:fullbody-controller nil
[メソッド]



:gripper-controller nil
[メソッド]



:default-controller nil
[メソッド]



:servo-on-off id on/off
[メソッド]



:init &rest args
[メソッド]




dxl-armed-turtlebot-robot [クラス]


  :super   turtlebot-with-sensors-robot 

:slots arm-robot arm-base-fixed-joint




:init &rest args &key (name dxl-armed-turtlebot-robot) (arm-origin-coords (make-coords :pos (float-vector 85.725 9.525 402) :rpy (list 0 0 pi))) [メソッド]



:method-copying substr &optional (use-args nil)
[メソッド]



:arm &rest args
[メソッド]




dxl-armed-turtlebot-interface [クラス]


  :super   robot-interface 

:slots nil




:set-compliance-slope id slope [メソッド]
Set compliance slope for one joint. id should be 1-7. slope is 32 by default.


:compliance-slope-vector av [メソッド]
Set compliance slope vector for all joints. #f(32 32 32 32 32 32 32) by default.


:set-torque-limit id torque-limit [メソッド]
Set torque limit for one joint. id should be 1-7. torque-limit should be within [0, 1].


:torque-enable id torque-enable [メソッド]
Configure joint torque mode for one joint. id sohuld be 1-7. If torque-enable is t, move to torque control mode, otherwise, move to joint positoin mode.


:servo-on id [メソッド]
Servo On for one joint. id should be 1-7.


:servo-off id [メソッド]
Servo Off for one joint. id should be 1-7.


:servo-on-all nil [メソッド]
Servo On for all joints.


:servo-off-all nil [メソッド]
Servo Off for all joints.


:start-grasp &optional (arm :arm) &key ((:gain g) 0.5) ((:objects objs) objects) [メソッド]
Start grasp mode.


:stop-grasp &optional (arm :arm) &key (wait nil) [メソッド]
Stop grasp mode.


:bumper-vector nil [メソッド]
Get bumper value vector.


:button-vector nil [メソッド]
Get button value vector.


:wheel-drop-vector nil [メソッド]
Get wheel drop sensor vector.


:cliff-vector nil [メソッド]
Get cliff sensor vector.


:cliff-bottom-vector nil [メソッド]
Get cliff bottom vector.


:imucoords nil [メソッド]
Get imucoords.


:power-system-vector nil [メソッド]
Get power system vector.


:publish-led id value [メソッド]
Publish topic to turn on/off LEG. id should be 1-2. Value should be :black, :green, :orange, and :red.


:publish-sound value [メソッド]
Publish topic to turn on sound. value should be :on, :off, :recharge, :button, :error, :cleaningstart, and :cleaningend.


:go-stop &optional (force-stop t) [メソッド]
Stop go-velocity mode.


:go-pos x y &optional (d 0) [メソッド]
Move to desired x y position and yaw orientation. x and y is [m] and d is [deg].


:go-velocity x y d &optional (msec 1000) &key (stop t) (wait) [メソッド]
Moving by desired x y translational velocity and yaw rotational velocity. x and y is [m/s] and d is [deg/s].


:initialize-arm-robot-ros nil [メソッド]



:dynamixel-motor-states-callback msg
[メソッド]



:fullbody-controller nil
[メソッド]



:gripper-controller nil
[メソッド]



:default-controller nil
[メソッド]



:servo-on-off id on/off
[メソッド]



:initialize-turtlebot-ros nil
[メソッド]



:kobuki-bumper-states-callback msg
[メソッド]



:kobuki-button-states-callback msg
[メソッド]



:kobuki-power-system-states-callback msg
[メソッド]



:kobuki-wheel-drop-states-callback msg
[メソッド]



:kobuki-cliff-states-callback msg
[メソッド]



:kobuki-imu-states-callback msg
[メソッド]



:laptop-charge-callback msg
[メソッド]



:def-vector-value &key (simulate-func #'(lambda nil (instantiate float-vector 3))) (raw-data-name) (vector-length 3) (state-name :state) (value-name)
[メソッド]



:raw-bumper-data nil
[メソッド]



:raw-button-data nil
[メソッド]



:raw-wheel-drop-data nil
[メソッド]



:raw-cliff-data nil
[メソッド]



:raw-imu-data nil
[メソッド]



:imurot nil
[メソッド]



:update-robot-state &rest args
[メソッド]



:move-to coords &key (retry 10) (frame-id /world) (wait-for-server-timeout 5)
[メソッド]



:init &rest args
[メソッド]



turtlebot-init &key (objects) [関数]

Initialization function for riand turtlebot.


dxl-7dof-arm-init nil [関数]
Initialization function for riand dxl-7dof-arm.


dxl-armed-turtlebot nil [関数]
Generation function for dxl-armed-turtlebot-robot.


dxl-armed-turtlebot-init &key (objects) [関数]
Initialization function for riand dxl-armed-turtlebot.


get-method-list-for-turtlebot-interface nil [関数]


nil
get-method-list-for-dxl-7dof-arm-interface nil [関数]


nil
get-method-list-for-turtlebot-interface nil [関数]


nil
get-method-list-for-dxl-7dof-arm-interface nil [関数]


nil
nozawa 2014-11-30