skill_wait_for_transform

A skill that keeps the robot position until a transform becomes available

Defined at line 8 of file skills/skill_wait_for_transform.xml in package pitasc_library.

Documentation: Skill wait_for_transform

Meta data

Categories
single_robot, position_controlled
Prototypes
skill_cartesian, loop_target, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

frame : string
Transform target to wait for.

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
parent_frame : string
Transform source to wait for.
Default: world

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
tasks : list:task
Contains the task description(s).
bounds : list:bound
Contains the bounds description(s).
monitors : list:monitor
Contains the monitors of the skill that determine when the skill should terminate.
Default: odict_keys([‘monitor_wait_for_transform’])
transitions : list:transition
Contains additional transitions to other states (skills), given an event name.
scripts : list:script
Contains scripts that should be executed while the skill is active.

Hidden parameters:

collections : list:collection
Contains the kinematic chains of the skill (feature, robot, object chains).
Default: odict_keys([‘collection’, ‘target_to_tool’])
loops : list:kinematic_loop
Contains the kinematic loop(s) that define the task to be solved.
Default: odict_keys([‘kinematic_loop’])
tool_frame : string
Name of the tool frame
target_frame : string
Name of the target frame
Default: world

Examples

skill_wait_for_transform is used in the following examples: