7.13.3. robot_control.GoToAndLookAtPlacementArea

class robot_control.GoToAndLookAtPlacementArea(*args: Any, **kwargs: Any)

Bases: State

Navigates the robot to the waypoint of the placement area and makes it look at the placement area.

Parameters:

grasp_object_name (str) – The name of the object that was grasped. This is used to determine the placement area as each object has a predefined placement area.

Returns:

• smach-result – ‘succeeded’: If the robot reached the waypoint and looked at the placement area. ‘aborted’: If the robot could not reach the waypoint, either because action took to long and timed out or because the connection to the move server could not be established, or if no placement area is specified for this object.

• placement_area_bb (BoundingBox3DStamped) – The bounding box of the placement area the robot should place the object in. This is read from the parameter server.

__init__(outcomes=['succeeded', 'aborted'], input_keys=['grasp_object_name'], output_keys=['placement_area_bb'])

Methods

__init__([outcomes, input_keys, output_keys])
execute(userdata)	Moves the robot to the waypoint of the placement area and makes it look at the placement area.

execute(userdata)

Moves the robot to the waypoint of the placement area and makes it look at the placement area.

Loads the placement areas and objects from the parameter server. The placement area of the object can be set in the config file. Otherwise it is determined by the object name. The robot moves to the waypoint of the placement area and looks at the placement area based on the data loaded from the parameter server.