def on_init(self, controller):
LOG.v("Initialized", "on_init")
self.t = 0 # time var for automated testing
# Initialize empty frame
self.frame = None
# Initialize fingers and hands
self.hand = Leap.Hand()
self.fingers = { FINGER_NAMES[i] : Leap.Finger()
for i in range(5)}
# Initialize joint names for JointState messages
self.joint_names = []
# Initialize node
rospy.init_node('hand_tracker', anonymous=True)
# Initialize publishers
self.js_pub = rospy.Publisher(JS_TOPIC, JointState, queue_size=10)
self.ps_pub = rospy.Publisher(PS_TOPIC, PoseStamped, queue_size=10)
self.ts_pub = rospy.Publisher(TS_TOPIC, TwistStamped, queue_size=10)
def main(argv):
hand = Leap.Hand()
a = translate_to_origin(hand)
__author__ = 'flier'
import argparse
import Leap
import rospy
import leap_interface
from leap_motion.msg import leap
from leap_motion.msg import leapros
from sensor_msgs.msg import JointState
FREQUENCY_ROSTOPIC_DEFAULT = 0.01
NODENAME = 'leap_pub'
PARAMNAME_FREQ = 'freq'
PARAMNAME_FREQ_ENTIRE = '/' + NODENAME + '/' + PARAMNAME_FREQ
#controller = Leap.Controller()
hand = Leap.Hand()
def sender():
'''
This method publishes the data defined in leapros.msg to /leapmotion/data
'''
rospy.loginfo("Parameter set on server: PARAMNAME_FREQ={}".format(
rospy.get_param(PARAMNAME_FREQ_ENTIRE, FREQUENCY_ROSTOPIC_DEFAULT)))
li = leap_interface.Runner()
li.setDaemon(True)
li.start()
# pub = rospy.Publisher('leapmotion/raw',leap)
#pub_ros = rospy.Publisher('leapmotion/data',leapros, queue_size=2)
pub_ros = rospy.Publisher('CPRMoverJointVel', JointState, queue_size=10)
