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!"