morse.middleware.ros package¶
Subpackages¶
Submodules¶
morse.middleware.ros.abstract_ros module¶
-
class
AbstractROS
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.abstract_datastream.AbstractDatastream
Base class for all ROS Publishers and Subscribers
-
ros_class
¶ alias of
std_msgs.msg._Header.Header
-
-
class
ROSPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.AbstractROS
Base class for all ROS Publishers
-
default_frame_id
= 'USE_TOPIC_NAME'¶
-
-
class
ROSPublisherTF
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Base class for all ROS Publishers with TF support
-
get_robot_transform
()[source]¶ Get the transformation relative to the robot origin
Return the local position, orientation and scale of this components
-
sendTransform
(translation, rotation, time, child, parent)[source]¶ Parameters: - translation – the translation of the transformtion as geometry_msgs/Vector3
- rotation – the rotation of the transformation as a geometry_msgs/Quaternion
- time – the time of the transformation, as a rospy.Time()
- child – child frame in tf, string
- parent – parent frame in tf, string
Broadcast the transformation from tf frame child to parent on ROS topic
"/tf"
.
-
send_transform_robot
(time=None, child=None, parent=None)[source]¶ Send the transformation relative to the robot
Parameters: - time – default now
- child – default topic_name or ‘frame_id’ in kwargs
- parent – default ‘base_link’ or ‘parent_frame_id’ in kwargs
-
topic_tf
= None¶
-
-
class
ROSSubscriber
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.AbstractROS
Base class for all ROS Subscribers
-
class
StringPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish a string containing a printable representation of the local data.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
std_msgs.msg._String.String
-
-
class
StringReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a String topic and log its data decoded as UTF-8.
-
ros_class
¶ alias of
std_msgs.msg._String.String
-
morse.middleware.ros.accelerometer module¶
-
class
AccelWithCovarianceStampedPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
geometry_msgs.msg._AccelWithCovarianceStamped.AccelWithCovarianceStamped
-
-
class
TwistPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the velocity of the acceleromter sensor. No angular information, only linear ones.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
geometry_msgs.msg._TwistStamped.TwistStamped
-
morse.middleware.ros.battery module¶
-
class
Float32Publisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the charge of the battery sensor.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
std_msgs.msg._Float32.Float32
-
morse.middleware.ros.clock module¶
-
class
ClockPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the simulator clock.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
rosgraph_msgs.msg._Clock.Clock
-
morse.middleware.ros.depth_camera module¶
-
class
DepthCameraPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisherTF
Publish the depth field from the Camera perspective as XYZ point-cloud. And send the transformation between the camera and the robot through TF.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
sensor_msgs.msg._PointCloud2.PointCloud2
-
morse.middleware.ros.destination module¶
-
class
PointReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a Point topic and set x,y,z local data.
-
ros_class
¶ alias of
geometry_msgs.msg._Point.Point
-
morse.middleware.ros.force_torque module¶
-
class
WrenchReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a Wrench topic and set force and torque (x,y,z) local data.
-
ros_class
¶ alias of
geometry_msgs.msg._Wrench.Wrench
-
morse.middleware.ros.gps module¶
Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the GPS position of the robot.
default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
alias of
sensor_msgs.msg._NavSatFix.NavSatFix
Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the GPS position of the robot.
default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
alias of
sensor_msgs.msg._NavSatFix.NavSatFix
morse.middleware.ros.imu module¶
-
class
ImuPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the data of the IMU sensor (without covariance).
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
default_frame_id
= '/imu'¶
-
ros_class
¶ alias of
sensor_msgs.msg._Imu.Imu
-
morse.middleware.ros.infrared module¶
-
class
RangePublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the range of the infrared sensor.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
sensor_msgs.msg._Range.Range
-
morse.middleware.ros.jido_posture module¶
-
class
JointStatePublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the data of the posture sensor (for Jido).
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
sensor_msgs.msg._JointState.JointState
-
morse.middleware.ros.jointstate module¶
-
class
JointStatePR2Publisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the data of the posture sensor after filling missing PR2 joints.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
sensor_msgs.msg._JointState.JointState
-
-
class
JointStatePublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the data of the posture sensor.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
sensor_msgs.msg._JointState.JointState
-
morse.middleware.ros.jointtrajectorycontrollers module¶
-
class
JointTrajectoryControllerStatePublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the data of the pr2 joint sensor.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
control_msgs.msg._JointTrajectoryControllerState.JointTrajectoryControllerState
-
morse.middleware.ros.kuka_jointstate module¶
-
class
JointStateReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a JointState topic and set kuka_{1-7} to the position[0-6].
-
ros_class
¶ alias of
sensor_msgs.msg._JointState.JointState
-
morse.middleware.ros.kuka_jointstate_pub module¶
-
class
JointStatePublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publishes a JointState topic and set kuka_{1-7} to the position[0-6].
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
sensor_msgs.msg._JointState.JointState
-
morse.middleware.ros.laserscanner module¶
-
class
LaserScanPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the
range_list
of the laser scanner.-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
default_frame_id
= '/base_laser_link'¶
-
ros_class
¶ alias of
sensor_msgs.msg._LaserScan.LaserScan
-
-
class
PointCloud2Publisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisherTF
Publish the
point_list
of the laser scanner.-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
sensor_msgs.msg._PointCloud2.PointCloud2
-
morse.middleware.ros.light module¶
-
class
BoolReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a boolean topic to control if we must or not emit light.
-
ros_class
¶ alias of
std_msgs.msg._Bool.Bool
-
morse.middleware.ros.motion_vw module¶
-
class
TwistReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a motion command and set
v
andw
local data.-
ros_class
¶ alias of
geometry_msgs.msg._Twist.Twist
-
morse.middleware.ros.motion_xyw module¶
-
class
TwistReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a motion command and set
x
,y
andw
local data.-
ros_class
¶ alias of
geometry_msgs.msg._Twist.Twist
-
morse.middleware.ros.odometry module¶
-
class
OdometryPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisherTF
Publish the odometry of the robot. And send the transformation between
frame_id
andchild_frame_id
args, default ‘/odom’ and ‘/base_footprint’ through TF.-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
default_frame_id
= '/odom'¶
-
ros_class
¶ alias of
nav_msgs.msg._Odometry.Odometry
-
morse.middleware.ros.orientation module¶
-
class
QuaternionReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a Quaternion topic and set roll,pitch,yaw local data.
-
ros_class
¶ alias of
geometry_msgs.msg._Quaternion.Quaternion
-
morse.middleware.ros.platine module¶
-
class
Vector3Reader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a Vector3 topic and set pan,tilt local data, according to the rotation axis (pan: y-axis, tilt: z-axis).
-
ros_class
¶ alias of
geometry_msgs.msg._Vector3.Vector3
-
morse.middleware.ros.pose module¶
-
class
PosePublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the position and orientation of the robot as ROS geometry_msgs.Pose message.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
geometry_msgs.msg._Pose.Pose
-
-
class
PoseStampedPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the position and orientation of the robot as ROS geometry_msgs.PoseStamped message.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
default_frame_id
= '/map'¶
-
ros_class
¶ alias of
geometry_msgs.msg._PoseStamped.PoseStamped
-
-
class
PoseWithCovarianceStampedPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the position and orientation of the robot including the covariance.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
default_frame_id
= '/map'¶
-
ros_class
¶ alias of
geometry_msgs.msg._PoseWithCovarianceStamped.PoseWithCovarianceStamped
-
-
class
TFPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisherTF
Publish the transformation between
frame_id
andchild_frame_id
args, default ‘/map’ and ‘/base_link’ through TF.-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
default_frame_id
= '/map'¶
-
morse.middleware.ros.ptu_posture module¶
-
class
JointStatePublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the data of the posture sensor as a ROS JointState message
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
sensor_msgs.msg._JointState.JointState
-
morse.middleware.ros.quadrotor_dynamic module¶
-
class
QuadrotorDynamicReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a float array topic and set quadrotor engines local data.
-
ros_class
¶ alias of
std_msgs.msg._Float32MultiArray.Float32MultiArray
-
morse.middleware.ros.read_asctec_ctrl_input module¶
morse.middleware.ros.read_pose module¶
-
class
PoseReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a Pose topic and set
position
as Vector andx
,y
,z
andorientation
as Quaternion androll
,pitch
,yaw
local data.-
ros_class
¶ alias of
geometry_msgs.msg._Pose.Pose
-
-
class
PoseStampedReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a PoseStamped topic and set
position
as Vector andx
,y
,z
andorientation
as Quaternion androll
,pitch
,yaw
local data.-
ros_class
¶ alias of
geometry_msgs.msg._PoseStamped.PoseStamped
-
morse.middleware.ros.read_twist module¶
-
class
TwistReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a Twist topic and set
vx
,vy
,vz
andvroll
,vpitch
,vyaw
local data.-
ros_class
¶ alias of
geometry_msgs.msg._Twist.Twist
-
morse.middleware.ros.rotorcraft_attitude module¶
-
class
RotorcraftAttitudeReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a float array topic and set quadrotor attitude controller local data.
-
ros_class
¶ alias of
std_msgs.msg._Float32MultiArray.Float32MultiArray
-
morse.middleware.ros.semantic_camera module¶
-
class
SemanticCameraPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisherTF
Publish the data of the semantic camera as JSON in a ROS String message. And send TF transform between ‘/map’ and
object.name
.-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
std_msgs.msg._String.String
-
-
class
SemanticCameraPublisherLisp
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisherTF
Publish the data of the semantic camera as a ROS String message, that contains a lisp-list (each field are separated by a space).
This function was designed for the use with CRAM and the Adapto group.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
ros_class
¶ alias of
std_msgs.msg._String.String
-
morse.middleware.ros.static_tf module¶
-
class
StaticTF2Publisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.static_tf.StaticTFPublisher
Publish the (static) transform between robot and this sensor/actuator, using a latched topic (TF2 convention).
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
init_tr
= False¶
-
topic_tf_static
= None¶
-
-
class
StaticTFPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisherTF
Publish the (static) transform between robot and this sensor/actuator with 1Hz.
-
child_frame_id
= None¶
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
last_ts
= 0¶
-
parent_frame_id
= None¶
-
morse.middleware.ros.tfMessage module¶
autogenerated by genpy from tf/tfMessage.msg. Do not edit.
-
class
tfMessage
(*args, **kwds)[source]¶ Bases:
genpy.message.Message
-
deserialize
(str)[source]¶ unpack serialized message in str into this message instance :param str: byte array of serialized message,
str
-
deserialize_numpy
(str, numpy)[source]¶ unpack serialized message in str into this message instance using numpy for array types :param str: byte array of serialized message,
str
:param numpy: numpy python module
-
serialize_numpy
(buff, numpy)[source]¶ serialize message with numpy array types into buffer :param buff: buffer,
StringIO
:param numpy: numpy python module
-
transforms
¶
-
morse.middleware.ros.velocity module¶
-
class
TwistStampedPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisher
Publish the twist of the robot.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
default_frame_id
= '/base_link'¶
-
ros_class
¶ alias of
geometry_msgs.msg._TwistStamped.TwistStamped
-
morse.middleware.ros.video_camera module¶
-
class
CameraPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSPublisherTF
Publish the image from the Camera perspective. And send the intrinsic matrix information in a separate topic of type sensor_msgs/CameraInfo.
-
default
(ci='unused')[source]¶ default method called by MORSE logic
Sensor: must read local_data, format and publish them. Actuator: must read a new incoming command and update local_data.
-
encoding
= 'tbd'¶
-
pub_tf
= True¶
-
ros_class
¶ alias of
sensor_msgs.msg._Image.Image
-
-
class
DepthCameraPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.video_camera.CameraPublisher
-
encoding
= '32FC1'¶
-
-
class
VideoCameraPublisher
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.video_camera.CameraPublisher
-
encoding
= 'rgba8'¶
-
morse.middleware.ros.waypoint2D module¶
-
class
Pose2DReader
(component_instance, kwargs)[source]¶ Bases:
morse.middleware.ros.abstract_ros.ROSSubscriber
Subscribe to a Pose2D topic and set
x
,y
,z
local data. This is designed to be used with the waypoint actuator.-
ros_class
¶ alias of
geometry_msgs.msg._Pose2D.Pose2D
-