pitasc_library - frame_editor/frame_editor.xml

Model definitions

File contents

  1<?xml version="1.0" encoding="UTF-8"?>
  2
  3<pitasc>
  4
  5    <models>
  6
  7        <!-- Component -->
  8        <type id="frame_editor" prototype="component">
  9            <meta>
 10                <member id="description">rqt frame editor plugin</member>
 11            </meta>
 12        </type>
 13
 14
 15        <!-- Scripts -->
 16
 17        <type id="script_frame_editor" prototype="script_service_caller">
 18            <meta>
 19                <member id="description">Interacts with the frame_editor via ROS service.</member>
 20                <member id="categories">frames, ROS</member>
 21                <member id="implementation">
 22                </member>
 23            </meta>
 24            <data>
 25                <type id="service_name" prototype="string_parameter">
 26                    <meta>
 27                        <member id="description">Name of the service to be called</member>
 28                        <member id="visibility">required</member>
 29                    </meta>
 30                    <data></data>
 31                </type>
 32                <member id="namespace" reference_id="environment.frame_editor.namespace" />
 33                <type id="frame" prototype="string_parameter">
 34                    <meta>
 35                        <member id="description">Name of the frame to be manipulated</member>
 36                    </meta>
 37                </type>
 38            </data>
 39        </type>
 40
 41        <type id="script_frame_editor_set" prototype="script_frame_editor">
 42            <meta>
 43                <member id="description">Sets a new frame in the frame_editor via ROS service.</member>
 44                <member id="categories">frames</member>
 45                <member id="implementation">
 46                    <clone prototype="orocos">
 47                        <member id="package">cppitasc_ros_components</member>
 48                        <member id="component">ScriptFrameEditorSetFrame</member>
 49                    </clone>
 50                </member>
 51            </meta>
 52            <data>
 53
 54                <member id="service_name">/frame_editor/set_frame</member>
 55                <member id="frame.meta.description">Name of the frame to be created</member>
 56
 57                <type id="parent" prototype="string_parameter">
 58                    <meta>
 59                        <member id="description">Name of the parent frame of the frame to be created</member>
 60                    </meta>
 61                </type>
 62                <type id="pose" prototype="float_csv">
 63                    <meta>
 64                        <member id="description">Pose of the new frame relative to 'parent'. Values
 65                            are x,y,z,a,b,c</member>
 66                    </meta>
 67                </type>
 68            </data>
 69        </type>
 70
 71        <type id="script_frame_editor_remove" prototype="script_frame_editor">
 72            <meta>
 73                <member id="description">Removes a frame from the frame_editor via ROS service.</member>
 74                <member id="categories">frames</member>
 75                <member id="implementation">
 76                    <clone prototype="orocos">
 77                        <member id="package">cppitasc_ros_components</member>
 78                        <member id="component">ScriptFrameEditorRemoveFrame</member>
 79                    </clone>
 80                </member>
 81            </meta>
 82            <data>
 83                <member id="service_name">/frame_editor/remove_frame</member>
 84                <member id="frame.meta.description">Name of the frame to be removed</member>
 85            </data>
 86        </type>
 87
 88        <type id="script_frame_editor_set_parent" prototype="script_frame_editor">
 89            <meta>
 90                <member id="description">Set a new parent frame of a given frame via ROS service.</member>
 91                <member id="categories">frames</member>
 92                <member id="implementation">
 93                    <clone prototype="orocos">
 94                        <member id="package">cppitasc_ros_components</member>
 95                        <member id="component">ScriptFrameEditorSetParent</member>
 96                    </clone>
 97                </member>
 98            </meta>
 99            <data>
100
101                <member id="service_name">/frame_editor/set_parent</member>
102                <member id="frame.meta.description">Name of the frame to be created</member>
103
104                <type id="parent" prototype="string_parameter">
105                    <meta>
106                        <member id="description">Name of the parent frame</member>
107                    </meta>
108                </type>
109                <type id="keep_absolute" prototype="bool_parameter">
110                    <meta>
111                        <member id="description">If true, change the kin. tree, but not the position
112                            relative to 'world' or attach full transformation to parent frame</member>
113                    </meta>
114                </type>
115            </data>
116        </type>
117
118        <type id="script_frame_editor_align" prototype="script_frame_editor">
119            <meta>
120                <member id="description">Aligns a frame with another frame via frame editor ROS
121                    service.</member>
122                <member id="categories">frames</member>
123                <member id="implementation">
124                    <clone prototype="orocos">
125                        <member id="package">cppitasc_ros_components</member>
126                        <member id="component">ScriptFrameEditorAlignFrame</member>
127                    </clone>
128
129                </member>
130            </meta>
131            <data>
132                <member id="service_name">/frame_editor/align_frame</member>
133
134                <member id="frame.meta.description">Name of the frame to be aligned</member>
135                <type id="source" prototype="string_parameter">
136                    <meta>
137                        <member id="description">Name of the frame to be aligned to</member>
138                    </meta>
139                </type>
140                <type id="axes" prototype="string_csv">
141                    <meta>
142                        <member id="description">List of axes to be aligned.</member>
143                        <clone prototype="restrictions">
144                            <clone prototype="enum">x, y, z, a, b, c</clone>
145                        </clone>
146                        <member id="visibility">required</member>
147                    </meta>
148                    <data>x,y,z,a,b,c</data>
149                </type>
150            </data>
151        </type>
152
153        <type id="script_frame_editor_copy" prototype="script_frame_editor">
154            <meta>
155                <member id="description">Copies a frame via ROS service.</member>
156                <member id="categories">frames</member>
157                <member id="implementation">
158                    <clone prototype="orocos">
159                        <member id="package">cppitasc_ros_components</member>
160                        <member id="component">ScriptFrameEditorCopyFrame</member>
161                    </clone>
162
163                </member>
164            </meta>
165            <data>
166                <member id="service_name">/frame_editor/copy_frame</member>
167
168                <member id="frame.meta.description">Name of the frame to be copied</member>
169                <type id="source" prototype="string_parameter" />
170                <type id="parent" prototype="string_parameter" />
171            </data>
172        </type>
173
174        <type id="script_frame_editor_load_yaml" prototype="script_service_caller">
175            <meta>
176                <member id="description">Loads YAML with frame editor.</member>
177                <member id="categories">frames</member>
178                <member id="implementation">
179                    <clone prototype="orocos">
180                        <member id="package">cppitasc_ros_components</member>
181                        <member id="component">ScriptFrameEditorLoadYaml</member>
182                    </clone>
183
184                </member>
185            </meta>
186            <data>
187                <member id="service_name">/frame_editor/load_yaml</member>
188
189                <type id="filename" prototype="string_parameter">
190                    <meta>
191                        <member id="description">Name of the file to be loaded</member>
192                    </meta>
193                </type>
194            </data>
195        </type>
196
197        <type id="script_frame_editor_save_yaml" prototype="script_service_caller">
198            <meta>
199                <member id="description">Saves YAML with frame editor.</member>
200                <member id="categories">frames</member>
201                <member id="implementation">
202                    <clone prototype="orocos">
203                        <member id="package">cppitasc_ros_components</member>
204                        <member id="component">ScriptFrameEditorSaveYaml</member>
205                    </clone>
206
207                </member>
208            </meta>
209            <data>
210                <member id="service_name">/frame_editor/save_yaml</member>
211
212                <type id="filename" prototype="string_parameter">
213                    <meta>
214                        <member id="description">Name of the file to be saved</member>
215                    </meta>
216                </type>
217            </data>
218        </type>
219
220
221        <!-- Skills -->
222        <type id="frame_editor_set" prototype="skill_idle_once">
223            <meta>
224                <member id="description">Created a new frame with a give pose via ROS service.</member>
225            </meta>
226            <data>
227                <type id="namespace" prototype="string_parameter">
228                    <meta>
229                        <member id="description">Namespace of the frame_editor, leave empty if only
230                            one editor is launched.</member>
231                    </meta>
232                </type>
233                <type id="frame" prototype="string_parameter">
234                    <meta>
235                        <member id="description">Name of the frame to be created with the given pose</member>
236                    </meta>
237                </type>
238                <type id="parent" prototype="string_parameter">
239                    <meta>
240                        <member id="description">Name of the parent frame</member>
241                    </meta>
242                </type>
243                <type id="pose" prototype="float_csv">
244                    <meta>
245                        <member id="description">Pose of the new frame relative to 'parent'. Values
246                            are x,y,z,a,b,c</member>
247                    </meta>
248                </type>
249                <member id="scripts">
250                    <clone prototype="script_frame_editor_set">
251                        <member id="namespace" reference_id="namespace" />
252                        <member id="frame" reference_id="frame" />
253                        <member id="parent" reference_id="parent" />
254                        <member id="pose" reference_id="pose" />
255                    </clone>
256                </member>
257            </data>
258        </type>
259
260        <type id="frame_editor_remove" prototype="skill_idle_once">
261            <meta>
262                <member id="description">Remove a frame from the frame_editor via ROS service.</member>
263            </meta>
264            <data>
265                <type id="namespace" prototype="string_parameter">
266                    <meta>
267                        <member id="description">Namespace of the frame_editor, leave empty if only
268                            one editor is launched.</member>
269                    </meta>
270                </type>
271                <type id="frame" prototype="string_parameter">
272                    <meta>
273                        <member id="description">Name of the frame to be removed</member>
274                    </meta>
275                </type>
276                <member id="scripts">
277                    <clone prototype="script_frame_editor_remove">
278                        <member id="namespace" reference_id="namespace" />
279                        <member id="frame" reference_id="frame" />
280                    </clone>
281                </member>
282            </data>
283        </type>
284
285        <type id="frame_editor_set_parent" prototype="skill_idle_once">
286            <meta>
287                <member id="description">Set a new parent frame of a given frame via ROS service.</member>
288            </meta>
289            <data>
290                <type id="namespace" prototype="string_parameter">
291                    <meta>
292                        <member id="description">Namespace of the frame_editor, leave empty if only
293                            one editor is launched.</member>
294                    </meta>
295                </type>
296                <type id="frame" prototype="string_parameter">
297                    <meta>
298                        <member id="description">Name of the frame to be connected to another parent
299                            frame</member>
300                    </meta>
301                </type>
302                <type id="parent" prototype="string_parameter">
303                    <meta>
304                        <member id="description">Name of the parent frame</member>
305                    </meta>
306                </type>
307                <type id="keep_absolute" prototype="bool_parameter">
308                    <meta>
309                        <member id="description">If true, change the kin. tree, but not the position
310                            relative to 'world' or attach full transformation to parent frame</member>
311                    </meta>
312                    <data>True</data>
313                </type>
314                <member id="scripts">
315                    <clone prototype="script_frame_editor_set_parent">
316                        <member id="namespace" reference_id="namespace" />
317                        <member id="frame" reference_id="frame" />
318                        <member id="parent" reference_id="parent" />
319                        <member id="keep_absolute" reference_id="keep_absolute" />
320                    </clone>
321                </member>
322            </data>
323        </type>
324
325        <type id="frame_editor_align" prototype="skill_idle_once">
326            <meta>
327                <member id="description">Aligns a frame with another frame via ROS service.</member>
328            </meta>
329            <data>
330                <type id="namespace" prototype="string_parameter">
331                    <meta>
332                        <member id="description">Namespace of the frame_editor, leave empty if only
333                            one editor is launched.</member>
334                    </meta>
335                </type>
336                <type id="frame" prototype="string_parameter">
337                    <meta>
338                        <member id="description">Name of the frame to be aligned</member>
339                    </meta>
340                </type>
341                <type id="source" prototype="string_parameter">
342                    <meta>
343                        <member id="description">Name of frame to be aligned to</member>
344                    </meta>
345                </type>
346                <type id="axes" prototype="string_csv">
347                    <meta>
348                        <member id="description">List of axes to be aligned.</member>
349                        <clone prototype="restrictions">
350                            <clone prototype="enum">x, y, z, a, b, c</clone>
351                        </clone>
352                        <member id="visibility">required</member>
353                    </meta>
354                    <data>x,y,z,a,b,c</data>
355                </type>
356
357                <member id="scripts">
358                    <clone prototype="script_frame_editor_align">
359                        <member id="namespace" reference_id="namespace" />
360                        <member id="frame" reference_id="frame" />
361                        <member id="source" reference_id="source" />
362                        <member id="axes" reference_id="axes" />
363                    </clone>
364                </member>
365            </data>
366        </type>
367
368        <type id="frame_editor_copy" prototype="skill_idle_once">
369            <meta>
370                <member id="description">Copies a frame via ROS service.</member>
371            </meta>
372            <data>
373                <type id="namespace" prototype="string_parameter">
374                    <meta>
375                        <member id="description">Namespace of the frame_editor, leave empty if only
376                            one editor is launched.</member>
377                    </meta>
378                </type>
379                <type id="frame" prototype="string_parameter">
380                    <meta>
381                        <member id="description">Name of the newly copied frame</member>
382                    </meta>
383                </type>
384                <type id="source" prototype="string_parameter">
385                    <meta>
386                        <member id="description">Name of frame to be copied</member>
387                    </meta>
388                </type>
389                <type id="parent" prototype="string_parameter">
390                    <meta>
391                        <member id="description">Name of the parent frame</member>
392                    </meta>
393                </type>
394                <member id="scripts">
395                    <clone prototype="script_frame_editor_copy">
396                        <member id="namespace" reference_id="namespace" />
397                        <member id="frame" reference_id="frame" />
398                        <member id="source" reference_id="source" />
399                        <member id="parent" reference_id="parent" />
400                    </clone>
401                </member>
402            </data>
403        </type>
404
405        <type id="frame_editor_load_yaml" prototype="skill_idle_once">
406            <meta>
407                <member id="description">Loads YAML with frame editor.</member>
408            </meta>
409            <data>
410                <type id="namespace" prototype="string_parameter">
411                    <meta>
412                        <member id="description">Namespace of the frame_editor, leave empty if only
413                            one editor is launched.</member>
414                    </meta>
415                </type>
416                <type id="filename" prototype="string_parameter">
417                    <meta>
418                        <member id="description">Name of the file to be loaded</member>
419                    </meta>
420                </type>
421                <member id="scripts">
422                    <clone prototype="script_frame_editor_load_yaml">
423                        <member id="namespace" reference_id="namespace" />
424                        <member id="filename" reference_id="filename" />
425                    </clone>
426                </member>
427            </data>
428        </type>
429
430        <type id="frame_editor_save_yaml" prototype="skill_idle_once">
431            <meta>
432                <member id="description">Saves YAML with frame editor.</member>
433            </meta>
434            <data>
435                <type id="namespace" prototype="string_parameter">
436                    <meta>
437                        <member id="description">Namespace of the frame_editor, leave empty if only
438                            one editor is launched.</member>
439                    </meta>
440                </type>
441                <type id="filename" prototype="string_parameter">
442                    <meta>
443                        <member id="description">Name of the file to be saved</member>
444                    </meta>
445                </type>
446                <member id="scripts">
447                    <clone prototype="script_frame_editor_save_yaml">
448                        <member id="namespace" reference_id="namespace" />
449                        <member id="filename" reference_id="filename" />
450                    </clone>
451                </member>
452            </data>
453        </type>
454
455
456    </models>
457</pitasc>