morse.middleware.ros.overlays package


morse.middleware.ros.overlays.armatures module

class ArmatureController(overlaid_object, namespace=None)[source]

Bases: morse.core.overlay.MorseOverlay

This overlay provides a ROS JointTrajectoryAction interface to armatures.

It is meant to be applied on a Armature actuator.

Besides the ROS action server, it also sets a ROS parameter with the list of joints.

joint_trajectory_action(callback, *param)

Returns the overlaid component name.

By default, the name of the class of the overlaid component.

Override this method in your overlay to expose an alternative name.

morse.middleware.ros.overlays.waypoints module

Module contents