def main(): try: rospy.init_node('avalos_limb_py') limb = Limb() print "Joint Name:" print limb.joint_names() print "\n" + "Joint Angles:" print limb.joint_angles() print "\n" + "Joint Velocities:" print limb.joint_velocities() print "\n" + "Endpoint Pose:" print limb.endpoint_pose() print "\n" + "Endpoint Velocity:" print limb.endpoint_velocity() except rospy.ROSInterruptException: rospy.logerr( 'Keyboard interrupt detected from the user. Exiting before trajectory completion.' )
def sendIOT(): #rospy.init_node('avalos_limb_py') while not rospy.is_shutdown(): limb = Limb() j_p=limb.joint_angles() j_v=limb.joint_velocities() p_p=limb.endpoint_pose() v_p=limb.endpoint_velocity() if running_status: joint_p = {'right_j0': j_p['right_j0'], 'right_j1': j_p['right_j1'], 'right_j2': j_p['right_j2'], 'right_j3': j_p['right_j3'], 'right_j4': j_p['right_j4'], 'right_j5': j_p['right_j5'], 'right_j6': j_p['right_j6']} joint_v = {'right_j0': j_v['right_j0'], 'right_j1': j_v['right_j1'], 'right_j2': j_v['right_j2'], 'right_j3': j_v['right_j3'], 'right_j4': j_v['right_j4'], 'right_j5': j_v['right_j5'], 'right_j6': j_v['right_j6']} success = device_client.publishEvent( "joint_angle", "json", {'j_p': joint_p,'j_v': joint_v}, qos=0, on_publish=my_on_publish_callback()) #print data time.sleep(0.1) if not success: print("Not connected to WatsonIoTP")