rospy.Rate(2).sleep() for i in range(3): t = rospy.get_time() cp = CameraPlacement() cp.attached_frame = "r_forearm_cam_frame" p = Point(0,0, 0) cp.eye.point = p cp.eye.header.frame_id = "r_forearm_cam_frame" f = Point(1, 0, 0) cp.focus.point = f cp.focus.header.frame_id = "r_forearm_cam_frame" up = Vector3(0,0,1) cp.up.vector = up cp.up.header.frame_id = "r_forearm_cam_frame" cp.time_from_start = rospy.Duration(1) print "Publishing a message!" pub.publish(cp) #print "Sleeping..." rate.sleep() #print "End of loop!"
rospy.sleep(1)
while not rospy.is_shutdown():
# print "Top of loop!"
t = rospy.get_time()
cp = CameraPlacement()
r = 10
p = Point(r * cos(2 * pi * t / 20), r * sin(2 * pi * t / 20), 2)
# p = Point(5,5,0)
cp.eye.point = p
cp.eye.header.frame_id = "base_link"
# f = Point(0, 0, 2*cos(2*pi*t/5))
f = Point(0, 0, 0)
cp.focus.point = f
cp.focus.header.frame_id = "base_link"
up = Vector3(0, 0, 1)
cp.up.vector = up
cp.up.header.frame_id = "base_link"
cp.time_from_start = rospy.Duration(1.2 / rate_float)
print "Publishing a message!"
pub.publish(cp)
# print "Sleeping..."
rate.sleep()
# print "End of loop!"
