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")
