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