whack_a_mole.game module

class whack_a_mole.game.Game

Bases: Node

ROS2 Game Node for controlling Franka to interact with a target in a game.

The node: - Calculates poses for the robotic arm based on TF transforms. - Interacts with various ROS2 services and actions for robot motion control. - Handles game-specific functionality like moving to specific color targets.

Services: - play (TargetFrame): Starts the game and moves the robot to the target frame. - go_home (Empty): Sends the robotic arm to the default home position.

Clients: - pick (PickPose): Calls a service to move the robot to the provided goal pose. - swing_hammer (ActuateServo): An action client to actuate the hammer motion.

TF Transformations: - Sets up a static transformation from base_tag to base.

Constants: - READ! This node uses specific offsets for hammer and tag positions. - Make sure to change these values based on your setup.

async go_home_callback(request, response)

Service callback to send the robot back to its home position.

Parameters:

  • request (Empty.Request) – An empty service request.

  • response (Empty.Response) – An empty service response.

Returns:

The response to the service caller.

Return type:

Empty.Response

Raises:

Exception – If there is an error during the motion to the home position.

async play_game(request, response)

Move the hammer to the target frame.

This service is called with a target frame. The robot moves to the target, calculates the appropriate pose based on TF transformations, and executes the required motion.

Parameters:

  • request (TargetFrame.Request) – The service request containing the target color frame.

  • response (TargetFrame.Response) – The service response.

Returns:

The response to the service caller.

Return type:

TargetFrame.Response

Raises:

Exception – If there is an error in TF lookup or motion execution.

whack_a_mole.game.main(args=None)

Entry point to start the Game node.

This function initializes the ROS2 system, creates the Game node, and keeps it spinning.

Parameters:

args (list or NoneType) – Optional command-line arguments passed to the ROS2 system.