|
| | scripts.publish_joints_visualization.joint_states_lock = threading.Lock() |
| |
| | scripts.publish_joints_visualization.joint_state = None |
| |
| | scripts.publish_joints_visualization.anonymous |
| |
| | scripts.publish_joints_visualization.robot_description = rospy.get_param("/robot_description") |
| |
| | scripts.publish_joints_visualization.shown_joints = None |
| |
| | scripts.publish_joints_visualization.dom = minidom.parseString(robot_description) |
| |
| | scripts.publish_joints_visualization.robot = dom.getElementsByTagName("robot") |
| |
| list | scripts.publish_joints_visualization.joints = [] |
| |
| | scripts.publish_joints_visualization.name = j.getAttribute("name") |
| |
| | scripts.publish_joints_visualization.joint_type = j.getAttribute("type") |
| |
| | scripts.publish_joints_visualization.origin = j.getElementsByTagName("origin") |
| |
| | scripts.publish_joints_visualization.axis = j.getElementsByTagName("axis") |
| |
| | scripts.publish_joints_visualization.limit = j.getElementsByTagName("limit") |
| |
| | scripts.publish_joints_visualization.parent = j.getElementsByTagName("parent") |
| |
| | scripts.publish_joints_visualization.xyz = origin[0].getAttribute("xyz") |
| |
| | scripts.publish_joints_visualization.rpy = origin[0].getAttribute("rpy") |
| |
| | 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]))) |
| |
| | scripts.publish_joints_visualization.axis_xyz = axis[0].getAttribute("xyz") |
| |
| | scripts.publish_joints_visualization.ax = PyKDL.Vector(float(axis_xyz[0]), float(axis_xyz[1]), float(axis_xyz[2])) |
| |
| | scripts.publish_joints_visualization.limit_lo = float(limit[0].getAttribute("lower")) |
| |
| | scripts.publish_joints_visualization.limit_up = float(limit[0].getAttribute("upper")) |
| |
| | scripts.publish_joints_visualization.parent_link = parent[0].getAttribute("link") |
| |
| | scripts.publish_joints_visualization.axis_z = ax |
| |
| | scripts.publish_joints_visualization.axis_x = PyKDL.Vector(1,0,0) |
| |
| | scripts.publish_joints_visualization.axis_y = axis_z * axis_x |
| |
| | scripts.publish_joints_visualization.rot = PyKDL.Frame(PyKDL.Rotation(axis_x,axis_y,axis_z)) |
| |
| | scripts.publish_joints_visualization.listener_joint_states = rospy.Subscriber('/joint_states', JointState, jointStatesCallback) |
| |
| float | scripts.publish_joints_visualization.limit_scale = 0.1 |
| |
| | scripts.publish_joints_visualization.pub = marker_publisher.MarkerPublisher('/joints_vis') |
| |
| dictionary | scripts.publish_joints_visualization.points_list = {} |
| |
| list | scripts.publish_joints_visualization.pl = [] |
| |
| | scripts.publish_joints_visualization.angle = j[4] |
| |
| | scripts.publish_joints_visualization.angle_prev = angle |
| |
| dictionary | scripts.publish_joints_visualization.js = {} |
| |
| int | scripts.publish_joints_visualization.joint_idx = 0 |
| |
| int | scripts.publish_joints_visualization.m_id = 0 |
| |
| | scripts.publish_joints_visualization.vec = rot*PyKDL.Vector(math.cos(js[j[0]]), math.sin(js[j[0]]),0) |
| |
Publishes marker: joints visualization.
Definition in file publish_joints_visualization.py.
