def test_ros(robot):
# SCRIPT PARAMETERS
# j = 0
# index of joint under analysis
# N = 300
# test duration (in number of timesteps)
# dt = 0.001
# time step
# estimationDelay = 10
# delay introduced by the estimation [number of time steps]
createRosTopics = 1
# 1=true, 0=false
# CONSTANTS
nj = 30
# number of joints
# rad2deg = 180 / 3.14
app = Application(robot)
dq_des = nj * (0.0, )
app.robot.device.control.value = dq_des
if (createRosTopics == 1):
ros = RosExport('rosExport')
ros.add('vector', 'robotStateRos', 'state')
plug(robot.device.state, ros.robotStateRos)
# robot.device.after.addSignal('rosExport.robotStateRos')
return ros
def test_ros(robot):
# SCRIPT PARAMETERS
createRosTopics = 1
# 1=true, 0=false
nj = 30
# number of joints
app = Application(robot)
dq_des = nj * (0.0, )
app.robot.device.control.value = dq_des
if (createRosTopics == 1):
ros = RosImport('rosImport')
ros.add('vector', 'robotStateRos', 'robotState')
plug(robot.device.robotState, ros.robotStateRos)
robot.device.after.addSignal('rosImport.trigger')
return ros
