def rotate_joint2(self):
self.cnt2 = self.cnt2 + 1
data = Joint()
r = rospy.Rate(10)
data.data = sin(self.cnt2 / 100.0) # 動作を決める
self.joint2_pub.publish(data)
r.sleep()
def __init__(self):
rospy.init_node('operation_rrbot', anonymous=True)
self.joint1_pub = rospy.Publisher(
'rrbot/joint1_position_controller/command', Joint, queue_size=1000)
self.joint2_pub = rospy.Publisher(
'rrbot/joint2_position_controller/command', Joint, queue_size=1000)
rospy.Timer(rospy.Duration(0.1), self.timerCallback)
data = Joint()
data.data = 0.0
self.joint1_pub.publish(data)
self.joint2_pub.publish(data)
self.cnt1 = 0
self.cnt2 = 0
