Python API Documentation
========================
A more unified interface class combining the functionalities of all separate classes of Franka ROS Interface is available at `Panda Robot `_.
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franka_interface
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.. automodule:: franka_interface
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ArmInterface
^^^^^^^^^^^^
- Interface class that can monitor and control the robot
- Provides all required information about robot state and end-effector state
- Joint positions, velocities, and effort can be directly controlled and monitored using available methods
- Smooth interpolation of joint positions possible
- End-effector and Stiffness frames can be directly set (uses FrankaFramesInterface from *franka_ros_interface/franka_tools*)
- All functionalities of ArmInterface can also be accessed using the more unified `PandaArm `_ class defined in the `Panda Robot `_ package.
.. autoclass:: ArmInterface
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GripperInterface
^^^^^^^^^^^^^^^^
- Interface class to monitor and control gripper
- Gripper open, close methods
- Grasp, move joints methods
.. autoclass:: GripperInterface
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RobotEnable
^^^^^^^^^^^
- Interface class to reset robot when in recoverable error (use *enable_robot.py* script in *scripts/*)
.. autoclass:: RobotEnable
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RobotParams
^^^^^^^^^^^
- Collects and stores all useful information about the robot from the ROS parameter server
.. autoclass:: RobotParams
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franka_moveit
-------------
.. automodule:: franka_moveit
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PandaMoveGroupInterface
^^^^^^^^^^^^^^^^^^^^^^^
- Provides interface to control and plan motions using MoveIt in ROS.
- Simple methods to plan and execute joint trajectories and cartesian path.
- Provides easy reset and environment definition functionalities (See ExtendedPlanningSceneInterface below).
.. autoclass:: PandaMoveGroupInterface
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Helper Functions
~~~~~~~~~~~~~~~~
.. automodule:: franka_moveit.utils
:members: create_pose_msg, create_pose_stamped_msg
ExtendedPlanningSceneInterface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
- Easily define scene for robot motion planning (MoveIt plans will avoid defined obstacles if possible).
.. autoclass:: franka_moveit.ExtendedPlanningSceneInterface
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franka_tools
------------
.. automodule:: franka_tools
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CollisionBehaviourInterface
^^^^^^^^^^^^^^^^^^^^^^^^^^^
- Define collision and contact thresholds for the robot safety and contact detection.
.. autoclass:: CollisionBehaviourInterface
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FrankaControllerManagerInterface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
- List, start, stop, load available controllers for the robot
- Get the current controller status (commands, set points, controller gains, etc.)
- Update controller parameters through *ControllerParamConfigClient* (see below)
.. autoclass:: FrankaControllerManagerInterface
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ControllerParamConfigClient
^^^^^^^^^^^^^^^^^^^^^^^^^^^
- Get and set the controller parameters (gains) for the active controller
.. autoclass:: ControllerParamConfigClient
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FrankaFramesInterface
^^^^^^^^^^^^^^^^^^^^^
- Get and Set end-effector frame and stiffness frame of the robot easily
- Set the frames to known frames (such as links on the robot) directly
.. autoclass:: FrankaFramesInterface
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JointTrajectoryActionClient
^^^^^^^^^^^^^^^^^^^^^^^^^^^
- Command robot to given joint position(s) smoothly. (Uses the FollowJointTrajectory service from ROS *control_msgs* package)
- Smoothly move to a desired (valid) pose without having to interpolate for smoothness (trajectory interpolation done internally)
.. autoclass:: JointTrajectoryActionClient
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.. |Code Quality| image:: https://api.codacy.com/project/badge/Grade/ec16a09639d341358b73cb8cdaa57d2e
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.. |release| image:: https://img.shields.io/github/v/release/justagist/franka_ros_interface?include_prereleases :alt: GitHub release (latest by date including pre-releases)