RosAriaDriver documentation

based on original (in Polish)

1 Member classes

1.1 def RosAriaDriver_package.drive.RosAriaDriver.About ( self )

Info

Parameters: 

self    Pointer to the object.

1.2 def RosAriaDriver_package.drive.RosAriaDriver.GetPose ( self )

Returns robot position

Parameters: 

self    Pointer to the object.

Result: 

x[m], y[m], z[degrees].

1.3 def RosAriaDriver_package.drive.RosAriaDriver.GoTo ( self, X )

Moves robot forward

Parameters: 

self    Pointer to the object.
X       Distance to go in meters

1.4 def RosAriaDriver_package.drive.RosAriaDriver.GripperClose ( self )

Closes the gripper

Parameters: 

self    Pointer to the object.

1.5 def RosAriaDriver_package.drive.RosAriaDriver.GripperDown ( self )

Lower the gripper

Parameters: 

self    Pointer to the object.

1.6 def RosAriaDriver_package.drive.RosAriaDriver.GripperOpen ( self )

Open the gripper.

Parameters: 

self    Pointer to the object.

1.7 def RosAriaDriver_package.drive.RosAriaDriver.GripperUp ( self )

Raise the gripper

Parameters: 

self    Pointer to the object.

1.8 def RosAriaDriver_package.drive.RosAriaDriver.ReadEncoder ( self )

Returns encoder values

Parameters: 

self    Pointer to the object.

Result: 

[(posL,posR),(velL,velR)] - an array with positions and velocities of left and right wheels

1.9 def RosAriaDriver_package.drive.RosAriaDriver.ReadLaser ( self )

Returns laser scan 

angle_min: -1.57 [rad]
angle_max: 1.56 [rad]
angle_increment: 0.006135 [rad]
range_min: 0.0199 [m]
range_max: 5.5999 [m]

Parameters: 

self    Pointer to the object.

Result 

an array of distances [m].

1.10 def RosAriaDriver_package.drive.RosAriaDriver.ReadSonar ( self )

Returns sonar readings

Parameters: 

self    Pointer to the object.

Result: 

[[x,y],[x,y],...] - an array of detected obstacles in local robot frame

1.11 def RosAriaDriver_package.drive.RosAriaDriver.ResetPose ( self )

Reset robot pose (local frame)

Parameters: 

self    Pointer to the object.

1.12 def RosAriaDriver_package.drive.RosAriaDriver.Rotate ( self, angle )

Rotates the robot

Parameters: 

self    Pointer to the object.
angle   Destination angle (in local frame)

1.13 def RosAriaDriver_package.drive.RosAriaDriver.SetSpeed ( self, X, Z, T )

Set robot forward and angular velocities

Parameters: 

self    Pointer to the object
X       Forward velocity [m/s]
Z       Angular velocity [rad/s]
T       Motion duration [s]

1.14 def RosAriaDriver_package.drive.RosAriaDriver.SetSpeedLR ( self, L, R, T )

Set wheels speed

Parameters: 

self    Pointer to the object
L       Lest wheel velocity [m/s]
R       Right wheel velocity [m/s]
T       Motion duration [s]

1.15 def RosAriaDriver_package.drive.RosAriaDriver.StopRobot ( self )

Parameters: 

self    Pointer to the object