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