Functions
def	jointStatesCallback (data)

Variables
	joint_states_lock = threading.Lock()

	joint_state = None

	anonymous

	robot_description = rospy.get_param("/robot_description")

	shown_joints = None

	dom = minidom.parseString(robot_description)

	robot = dom.getElementsByTagName("robot")

list	joints = []

	name = j.getAttribute("name")

	joint_type = j.getAttribute("type")

	origin = j.getElementsByTagName("origin")

	axis = j.getElementsByTagName("axis")

	limit = j.getElementsByTagName("limit")

	parent = j.getElementsByTagName("parent")

	xyz = origin[0].getAttribute("xyz")

	rpy = origin[0].getAttribute("rpy")

	orig = PyKDL.Frame(PyKDL.Rotation.RPY(float(rpy[0]), float(rpy[1]), float(rpy[2])), PyKDL.Vector(float(xyz[0]), float(xyz[1]), float(xyz[2])))

	axis_xyz = axis[0].getAttribute("xyz")

	ax = PyKDL.Vector(float(axis_xyz[0]), float(axis_xyz[1]), float(axis_xyz[2]))

	limit_lo = float(limit[0].getAttribute("lower"))

	limit_up = float(limit[0].getAttribute("upper"))

	parent_link = parent[0].getAttribute("link")

	axis_z = ax

	axis_x = PyKDL.Vector(1,0,0)

	axis_y = axis_z * axis_x

	rot = PyKDL.Frame(PyKDL.Rotation(axis_x,axis_y,axis_z))

	listener_joint_states = rospy.Subscriber('/joint_states', JointState, jointStatesCallback)

float	limit_scale = 0.1

	pub = marker_publisher.MarkerPublisher('/joints_vis')

dictionary	points_list = {}

list	pl = []

	angle = j[4]

	angle_prev = angle

dictionary	js = {}

int	joint_idx = 0

int	m_id = 0

	vec = rot*PyKDL.Vector(math.cos(js[j[0]]), math.sin(js[j[0]]),0)

Function Documentation

◆ jointStatesCallback()

def scripts.publish_joints_visualization.jointStatesCallback ( data )

Definition at line 52 of file publish_joints_visualization.py.

Variable Documentation

◆ angle

scripts.publish_joints_visualization.angle = j[4]

Definition at line 146 of file publish_joints_visualization.py.

◆ angle_prev

scripts.publish_joints_visualization.angle_prev = angle

Definition at line 148 of file publish_joints_visualization.py.

◆ anonymous

scripts.publish_joints_visualization.anonymous

Definition at line 58 of file publish_joints_visualization.py.

◆ ax

scripts.publish_joints_visualization.ax = PyKDL.Vector(float(axis_xyz[0]), float(axis_xyz[1]), float(axis_xyz[2]))

Definition at line 115 of file publish_joints_visualization.py.

◆ axis

scripts.publish_joints_visualization.axis = j.getElementsByTagName("axis")

Definition at line 94 of file publish_joints_visualization.py.

◆ axis_x

scripts.publish_joints_visualization.axis_x = PyKDL.Vector(1,0,0)

Definition at line 125 of file publish_joints_visualization.py.

◆ axis_xyz

scripts.publish_joints_visualization.axis_xyz = axis[0].getAttribute("xyz")

Definition at line 113 of file publish_joints_visualization.py.

◆ axis_y

scripts.publish_joints_visualization.axis_y = axis_z * axis_x

Definition at line 128 of file publish_joints_visualization.py.

◆ axis_z

scripts.publish_joints_visualization.axis_z = ax

Definition at line 123 of file publish_joints_visualization.py.

◆ dom

scripts.publish_joints_visualization.dom = minidom.parseString(robot_description)

Definition at line 75 of file publish_joints_visualization.py.

◆ joint_idx

int scripts.publish_joints_visualization.joint_idx = 0

Definition at line 162 of file publish_joints_visualization.py.

◆ joint_state

scripts.publish_joints_visualization.joint_state = None

Definition at line 50 of file publish_joints_visualization.py.

◆ joint_states_lock

scripts.publish_joints_visualization.joint_states_lock = threading.Lock()

Definition at line 49 of file publish_joints_visualization.py.

◆ joint_type

scripts.publish_joints_visualization.joint_type = j.getAttribute("type")

Definition at line 87 of file publish_joints_visualization.py.

◆ joints

list scripts.publish_joints_visualization.joints = []

Definition at line 81 of file publish_joints_visualization.py.

◆ js

dictionary scripts.publish_joints_visualization.js = {}

Definition at line 159 of file publish_joints_visualization.py.

◆ limit

scripts.publish_joints_visualization.limit = j.getElementsByTagName("limit")

Definition at line 98 of file publish_joints_visualization.py.

◆ limit_lo

scripts.publish_joints_visualization.limit_lo = float(limit[0].getAttribute("lower"))

Definition at line 117 of file publish_joints_visualization.py.

◆ limit_scale

float scripts.publish_joints_visualization.limit_scale = 0.1

Definition at line 139 of file publish_joints_visualization.py.

◆ limit_up

scripts.publish_joints_visualization.limit_up = float(limit[0].getAttribute("upper"))

Definition at line 118 of file publish_joints_visualization.py.

◆ listener_joint_states

scripts.publish_joints_visualization.listener_joint_states = rospy.Subscriber('/joint_states', JointState, jointStatesCallback)

Definition at line 137 of file publish_joints_visualization.py.

◆ m_id

scripts.publish_joints_visualization.m_id = 0

Definition at line 166 of file publish_joints_visualization.py.

◆ name

scripts.publish_joints_visualization.name = j.getAttribute("name")

Definition at line 86 of file publish_joints_visualization.py.

◆ orig

scripts.publish_joints_visualization.orig = PyKDL.Frame(PyKDL.Rotation.RPY(float(rpy[0]), float(rpy[1]), float(rpy[2])), PyKDL.Vector(float(xyz[0]), float(xyz[1]), float(xyz[2])))

Definition at line 111 of file publish_joints_visualization.py.