GRID Docs | General Robotics

from grid_sim_client.isaac import PoseClient

A Zenoh client for handling pose messages. This class inherits from ZenohClient and provides functionality for publishing and receiving pose messages over Zenoh topics.

Fields

numpy.ndarray

Current position as [x, y, z]

numpy.ndarray

Current orientation as quaternion [x, y, z, w]

bool

Whether poses are relative to current position

bool

Whether pose commands block until complete

Constructor

Signature

PoseClient(
    *,
    client_dict: dict,
    agent_dict: Optional[dict] = None,
    shared_session: Any = None,
)

Initialize the pose client.

dict

required

Configuration dictionary for the client

dict, optional

Dictionary of agent parameters. Defaults to None.

Optional shared Zenoh session. Defaults to None.

Methods

`getLatestMessage()`

Signature

getLatestMessage() -> Any

Return the most recent message from the subscription queue. Blocks for up to one second waiting for a message. Returns: The raw payload bytes of the latest message, or None if no message was received within the timeout.

`get_orientation()`

Signature

get_orientation() -> Optional[np.ndarray]

Get the current orientation. Returns: numpy.ndarray: Current orientation as quaternion [x, y, z, w]

`get_pose()`

Signature

get_pose() -> Optional[tuple]

Get the latest pose message. Returns: tuple: (position, orientation) as numpy arrays or None

`get_position()`

Signature

get_position() -> Optional[np.ndarray]

Get the current position.

`msg_cb()`

Signature

msg_cb(sample: Any) -> None

Handle an incoming Zenoh sample by storing its payload in the queue.

required

The Zenoh sample received from the subscription.

`process_latest_msg()`

Signature

process_latest_msg() -> None

Process the latest received pose message.

`publish()`

Signature

publish(data: bytes) -> None

Publish data to the topic.

required

Raw bytes to publish on the configured topic.

`publish_agent_pose()`

Signature

publish_agent_pose() -> None

Publish the current pose of the connected agent.

`publish_pose()`

Signature

publish_pose(position: np.ndarray, orientation: np.ndarray) -> None

Publish a pose message.

array-like

required

Position as [x, y, z]

array-like

required

Orientation as quaternion [x, y, z, w]

`run()`

Signature

run() -> None

Start the client by declaring a subscriber or publisher on the session.

`stop()`

Signature

stop() -> None

Undeclare the subscriber and close the owned Zenoh session if any.

​Fields

​Constructor

​Methods

​getLatestMessage()

​get_orientation()

​get_pose()

​get_position()

​msg_cb()

​process_latest_msg()

​publish()

​publish_agent_pose()

​publish_pose()

​run()

​stop()

Fields

Constructor

Methods

`getLatestMessage()`

`get_orientation()`

`get_pose()`

`get_position()`

`msg_cb()`

`process_latest_msg()`

`publish()`

`publish_agent_pose()`

`publish_pose()`

`run()`

`stop()`