def publish(jointpos):
msg = seven()
msg.a = jointpos[0]
msg.b = jointpos[1]
msg.c = jointpos[2]
msg.d = jointpos[3]
msg.e = jointpos[4]
msg.f = jointpos[5]
msg.g = jointpos[6]
pub.publish(msg)
def talker():
pub = rospy.Publisher('gazebo/downscale_jointp', seven, queue_size=100)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(1000) # 1Khz
msg = seven()
while not rospy.is_shutdown():
msg.a = 0.0
msg.b = 1.5707
msg.c = 0.0
msg.d = 0.0
msg.e = 0.0
msg.f = 0.0
msg.g = 0.0
rospy.loginfo(msg)
pub.publish(msg)
rate.sleep()
def listener():
rospy.init_node('drl_downscale', anonymous=True)
rospy.Subscriber('downscale_actp', seven, callback)
# rospy.spin() # sleep for one second
while not rospy.is_shutdown():
# do whatever you want here
msg = seven()
msg.a = 0
msg.b = -0.1
msg.c = 0
msg.d = 0
msg.e = 0
msg.f = 0
msg.g = 0
pub.publish(msg)
rospy.sleep(0.01) # sleep for one second