robot_skills.head

Classes

Head	Base class for robot parts

Module Contents

class robot_skills.head.Head(robot_name, tf_buffer)

Bases: robot_skills.robot_part.RobotPart

Base class for robot parts

Constructor

Parameters:

• robot_name – string with robot name

• tf_buffer – tf buffer object

_ac_head_ref_action

_goal = None

_at_setpoint = False

close()

Close the robot part

selfreset()

Reset head position

look_at_ground_in_front_of_robot(distance=2, timeout=0)

look_down(timeout=0)

Gives a target at z = 1.0 at 1 m in front of the robot

look_up(timeout=0)

Gives a target at z = 1.0 at 1 m in front of the robot

look_at_standing_person(distance=1.0, height=1.6, timeout=0.0)

Gives a target at z = HEIGHT at DISTANCE m in front of the robot

Parameters:

• distance (float) –

• height (float) –

• timeout (float) –

look_right_down(timeout=0)

look_at_point(vector_stamped, end_time=0, pan_vel=1.0, tilt_vel=0.8, timeout=0)

cancel_goal()

wait_for_motion_done(timeout=5.0)

_setHeadReferenceGoal(goal_type, pan_vel, tilt_vel, end_time, point_stamped=PointStamped(), pan=0, tilt=0, timeout=0)

__feedbackCallback(feedback)

__doneCallback(terminal_state, result)