def __init__(self, joint_name): Joint.__init__(self, joint_name) self.motor_pub = rospy.Publisher(self.joint_name + '/command', Float64, queue_size=10) self.set_speed_srv = rospy.ServiceProxy(self.joint_name + '/set_speed', SetSpeed)
def __init__(self, joint_name): Joint.__init__(self, joint_name) self.msg = MotorCommand() self.msg.joint_name = self.joint_name self.motor_pub = rospy.Publisher('pololu/command', MotorCommand, queue_size=10)
def __init__(self, joint_name): Joint.__init__(self, joint_name) self.msg = JointAnglesWithSpeed() self.msg.joint_names.append(joint_name) self.joint_pub = rospy.Publisher('joint_angles', JointAnglesWithSpeed, queue_size=10)