def set_tilt_profile(position, time_from_start):
cmd = LaserTrajCmd()
cmd.profile = 'blended_linear'
cmd.position = position
cmd.time_from_start = [rospy.Time.from_sec(x) for x in time_from_start]
cmd.max_velocity = 10
cmd.max_acceleration = 30
try:
tilt_profile_client.call(cmd)
except rospy.ServiceException, e:
rospy.logerr("Couldn't set the profile on the laser. Exception %s" % e)
return False
from pr2_msgs.srv import *
from time import sleep
def print_usage(exit_code=0):
print '''Usage:
send_periodic_cmd.py [controller]
'''
sys.exit(exit_code)
if __name__ == '__main__':
if len(sys.argv) < 2:
print_usage()
cmd = LaserTrajCmd()
controller = sys.argv[1]
cmd.header = rospy.Header(None, None, None)
cmd.profile = "blended_linear"
cycle_time = rospy.get_param('~cycle_time', 5.0)
min_tilt_angle = rospy.get_param('~min_tilt_angle', -0.7)
max_tilt_angle = rospy.get_param('~max_tilt_angle', 1.0)
cmd.position = [min_tilt_angle, max_tilt_angle, min_tilt_angle]
cmd.time_from_start = [0.0, cycle_time - 1.0, cycle_time]
cmd.time_from_start = [
rospy.Duration.from_sec(x) for x in cmd.time_from_start
]
cmd.max_velocity = 10
cmd.max_acceleration = 30