def joint_position_request_cb(userdata, request): joint = JointPosition() joint.position = userdata.input_position joint.max_velocity_scaling_factor = 1.0 joint.max_accelerations_scaling_factor = 1.0 request.planning_group = userdata.input_planning_group request.joint_position = joint return request
def test_rotate(): _qpose = JointPosition() _qpose.joint_name = ["joint1", "joint2", "joint3", "joint4"] _qpose.position = [0.5, 0.0, 0.0, 0.5] _qpose.max_accelerations_scaling_factor = 0.0 _qpose.max_velocity_scaling_factor = 0.0 try: task_space_srv = rospy.ServiceProxy( "/open_manipulator/goal_joint_space_path_from_present", SetJointPosition ) _ = task_space_srv("arm", _qpose, 2.0) except rospy.ServiceException, e: rospy.loginfo("Path planning service call failed: {0}".format(e))