roboplan_ros_py.trajectory_publisher
Classes
Threaded trajectory playback via ROS marker visualization. |
Module Contents
- class roboplan_ros_py.trajectory_publisher.TrajectoryPublisher(scene, visualizer, marker_pub, q_indices)
Threaded trajectory playback via ROS marker visualization.
Publishes trajectory waypoints as marker arrays at a fixed rate, allowing visual preview of planned motions without requiring a ROS node for timer management.
Construct a trajectory publisher.
Manages threaded playback of roboplan trajectories, publishing visualization markers at each waypoint. Does not require a ROS node, but consumers must bring their own publisher.
- Parameters:
scene – RoboPlan Scene object.
visualizer – RoboplanVisualizer for generating marker arrays.
marker_pub – ROS publisher for MarkerArray messages.
q_indices – Joint group indices into the full configuration vector.
- _scene
- _visualizer
- _marker_pub
- _q_indices
- _thread = None
- _stop_event
- _on_complete = None
- play(trajectory, dt=0.01, on_complete=None)
Start publishing trajectory waypoints as markers.
Stops any active playback before starting. Waypoints are published at a fixed interval on a background thread.
- Parameters:
trajectory – A roboplan JointTrajectory.
dt – Time in seconds between published waypoints.
on_complete – Optional callback invoked when playback finishes.
- stop()