rp_xcore.xcore_robot module
- class rp_xcore.xcore_robot.XCoreRobot(node: Node)
Bases:
object- property base_frame_id: str
- gripper_off() GripperCommand_Result
Deactivates the gripper by triggering the gripper mechanism.
Raises
- Exception
If the gripper deactivation fails.
- gripper_on()
Activates the gripper by triggering the gripper mechanism.
Raises
- Exception
If the gripper activation fails.
- move_through_poses(poses: PoseArray, linear_motion=False)
Moves the robot through the specified poses.
Parameters
- posesPoseArray
The target poses to move the robot through.
- linear_motionbool
Whether to enforce linear motion.
Raises
- Exception
If the move through poses action returns a failure response.
- move_to_pose(pose: PoseStamped, linear_motion=False)
Moves the robot to the specified pose.
Parameters
- posePoseStamped
The target pose to move the robot to.
- linear_motionbool
Whether to enforce linear motion.
Raises
- Exception
If the move to pose action returns a failure response.
- property tf_buffer: Buffer