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RosAgent

Inherits from: Robot A class to represent a ROS-based robot agent. This class inherits from Robot and implements ROS-specific functionality for communicating with and controlling a robot through ROS topics.

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RosAgent

RosAgent(client_config: dict, agent_dict: dict | None)
Initialize a ROS agent with the given client configuration.
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Arguments
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client_config (dict)
required
Configuration dictionary specifying ROS clients and their parameters
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agent_dict (dict | None), optional
defaults to None. Optional dictionary of agent-specific parameters. Defaults to None.
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Returns

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create_clients

RosAgent.create_clients(client_config: dict, agent_config: dict | None)
Create ROS clients based on configuration.
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Arguments
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client_config (dict)
required
Dictionary of client configurations
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agent_config (dict | None)
required
Optional dictionary of agent parameters

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getImage

RosAgent.getImage(name: str, image_type: str)
Get image from named image client.
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Arguments
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name (str), optional
Name of image client
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image_type (str), optional
Unused
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Returns
ImageImage object

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getPosition

RosAgent.getPosition(name: str)
Get position from named pose client.
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Arguments
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name (str), optional
Name of pose client
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Returns
Position | list: Position object or raw position data

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getOrientation

RosAgent.getOrientation(name: str)
Get orientation from named pose client.
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Arguments
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name (str), optional
Name of pose client
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Returns
OrientationOrientation of agent as a quaternion

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sendVelocity

RosAgent.sendVelocity(linear_vel: Velocity, angular_vel: Velocity, name: str)
Send velocity command to named velocity client.
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Arguments
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linear_vel (Velocity)
required
VelocityLinear velocity components
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angular_vel (Velocity)
required
VelocityAngular velocity components
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name (str), optional
Name of velocity client

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sendPose

RosAgent.sendPose(position: Position, orientation: Orientation | None, name: str)
Send pose command to named pose client.
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Arguments
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position (Position)
required
PositionTarget position
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orientation (Orientation | None)
required
Target orientation (defaults to [0,0,0,1] if None)
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name (str), optional
Name of pose client

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getForce

RosAgent.getForce(name: str)
Gets the force from a named wrench client.
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Arguments
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name (str), optional
Name of wrench client
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Returns
ForceForce of contact sensor as a vector

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getTorque

RosAgent.getTorque(name: str)
Gets the torque from a named wrench client.
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Arguments
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name (str), optional
Name of wrench client
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Returns
TorqueTorque of contact sensor as a vector

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publishMsg

RosAgent.publishMsg(msg: dict, name: str)
Publish a message to a named generic client.
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Arguments
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msg (dict)
required
Message to publish
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name (str), optional
Name of the generic client

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getMsg

RosAgent.getMsg(name: str)
Get a message from a named generic client.
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Arguments
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name (str), optional
Name of the generic client

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run

RosAgent.run()

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stop

RosAgent.stop()