def publish_torques(self):
msg = joint_command(torque=[
self.j0, self.j1, self.j2, self.j3, self.j4, self.j5, self.j6,
self.j7, self.j8, self.j9, self.j10, self.j11, self.j12, self.j13,
self.j14, self.j15
])
self.pub.publish(msg)
print "published!"
import roslib
roslib.load_manifest("rospy")
roslib.load_manifest("raven_2")
from raven_2.msg import raven_state, joint_command
import rospy
import sensor_msgs.msg as sm
rospy.init_node("test_joint_publishing")
print "getting joint state"
joint_state_msg = rospy.wait_for_message("joint_states", sm.JointState, timeout = 4)
assert isinstance(joint_state_msg, sm.JointState)
torque = [0 for _ in xrange(8)]
torque[4] +=.03
pub = rospy.Publisher("joint_cmd1", joint_command)
rospy.sleep(.5)
msg = joint_command(torque = torque)
pub.publish(msg)
print "done!"
import roslib
roslib.load_manifest("rospy")
roslib.load_manifest("raven_2")
from raven_2.msg import raven_state, joint_command
import rospy
import sensor_msgs.msg as sm
rospy.init_node("test_joint_publishing")
print "getting joint state"
joint_state_msg = rospy.wait_for_message("joint_states",
sm.JointState,
timeout=4)
assert isinstance(joint_state_msg, sm.JointState)
torque = [0 for _ in xrange(8)]
torque[4] += .03
pub = rospy.Publisher("joint_cmd1", joint_command)
rospy.sleep(.5)
msg = joint_command(torque=torque)
pub.publish(msg)
print "done!"
def publish_torques(self):
msg = joint_command(
torque = [self.j0, self.j1, self.j2, self.j3, self.j4, self.j5, self.j6, self.j7, self.j8, self.j9, self.j10, self.j11, self.j12, self.j13, self.j14, self.j15])
self.pub.publish(msg)
print "published!"