remote_control_lib - Remote Control

Methods

• defclear_kill
• defclear_wrench
• defdeploy_thrusters
• defkill
• defpublish_wrench
• defretract_thrusters
• defselect_autonomous_control
• defselect_emergency_control
• defselect_keyboard_control
• defselect_next_control
• defselect_rc_control
• defset_disc_speed
• defshooter_cancel
• defshooter_fire
• defshooter_linear_extend
• defshooter_linear_retract
• defshooter_load
• defshooter_reset
• defstation_hold
• deftoggle_kill

class remote_control_lib.RemoteControl(controller_name: str, wrench_pub: Optional[str] = None)

Helper class which assists in allowing the remote execution of several key robot services.

clear_kill(*args, **kwargs) → None

Clears the system kill regardless of what state it is in.

clear_wrench(*args, **kwargs) → None

Publishes a zeroed wrench to the specified node based on force inputs from the controller.

deploy_thrusters(*args, **kwargs) → None

Deploys the thrusters by creating a new task in the task client.

kill(*args, **kwargs) → None

Kills the system regardless of what state it is in.

publish_wrench(x: float, y: float, rotation: float, stamp: Optional[Time] = None, *args, **kwargs) → None

Publishes a wrench to the specified node based on force inputs from the controller.

Parameters

• x (float) – The x-dimension of the wrench’s force vector.

• y (float) – The y-dimension of the wrench’s force vector.

• rotation (float) – The z-dimension of torque.

• stamp (Optional[genpy.rostime.Time]) – The time to attach to the header. If None, then use the current time.

retract_thrusters(*args, **kwargs) → None

Retracts the thrusters by creating a new task in the task client.

select_autonomous_control(*args, **kwargs) → None

Selects the autonomously generated trajectory as the active controller.

select_emergency_control(*args, **kwargs) → None

Selects the emergency controller as the active controller.

select_keyboard_control(*args, **kwargs) → None

Selects the keyboard teleoperation service as the active controller.

select_next_control(*args, **kwargs) → None

Selects the autonomously generated trajectory as the active controller.

select_rc_control(*args, **kwargs) → None

Selects the Xbox remote joystick as the active controller.

set_disc_speed(speed: int, *args, **kwargs) → None

Sets the shooters disc speed to the speed value passed in. The value is a percentage from -100 to 100, which is scaled down to a number from -1 to 1.

Parameters

speed (int) – The speed to set the shooter disc to.

shooter_cancel(*args, **kwargs) → None

Cancels the process that the shooter action client is currently running.

shooter_fire(*args, **kwargs) → None

Fires the shooter by using the action client to spin up the acceleration discs and extend the linear actuator.

shooter_linear_extend(*args, **kwargs)

Extends the shooter’s linear actuator by setting it’s speed to full forward.

shooter_linear_retract(*args, **kwargs)

Retracts the shooter’s linear actuator by setting it’s speed to full reverse.

shooter_load(*args, **kwargs) → None

Loads the shooter by using the action client to retract the linear actuator.

shooter_reset(*args, **kwargs) → None

Ensures that the shooter is fully retracted by initiating a retract and using a ~6s delay before calling the actual reset service.

station_hold(*args, **kwargs) → None

Sets the goal point to the current location and switches to autonomous mode in order to stay at that point.

toggle_kill(*args, **kwargs) → None

Toggles the kill status when the toggle_kill_button is pressed.