PTU Pose Sensor¶
Returns the pan/tilt values of a pan-tilt unit
Simple sensor that provides the current rotation angles of the pan and tilt segments of the PTU actuator. The angles returned are in radians in the range (-pi, pi).
Note
This sensor must be added as a child of the PTU you want to sense, like in the example below:
robot = ATRV()
ptu = PTU()
robot.append(ptu)
ptu.translate(z=0.9)
ptu = PTUPosture('ptu_pose')
ptu.append(ptu_pose)
Note
The angles are given with respect to the orientation of the robot
See also: PTU actuator.
Configuration parameters for PTU Pose Sensor¶
No configurable parameter.
Data fields¶
This sensor exports these datafields at each simulation step:
timestamp
(float, initial value:0.0
)- number of seconds in simulated time
pan
(float, initial value:0.0
)- pan value, in radians
tilt
(float, initial value:0.0
)- tilt value, in radians
Interface support:
ros
as sensor_msgs/JointState (morse.middleware.ros.jointstate.JointStatePublisher
)socket
as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher
)yarp
as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher
)moos
as StringPublisher (morse.middleware.moos.abstract_moos.StringPublisher
)text
as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher
)pocolibs
as PLATINE_STATES (morse.middleware.pocolibs.sensors.platine_posture.PlatinePoster
)
Services for PTU Pose Sensor¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_local_data()
(blocking)Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the sensor
ptuposture = PTUPosture()
# place your component at the correct location
ptuposture.translate(<x>, <y>, <z>)
ptuposture.rotate(<rx>, <ry>, <rz>)
robot.append(ptuposture)
# define one or several communication interface, like 'socket'
ptuposture.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.sensors.ptu_posture.)