def cmd_publisher():
pub = rospy.Publisher('cmd_angle_topic', cmd_angles, queue_size=3)
rospy.init_node('cmd_publisher', anonymous=False)
rate = rospy.Rate(100) # 1 Hz
while not rospy.is_shutdown():
angles = cmd_angles()
angles.angle1 = 0.
angles.angle2 = 0.
angles.angle3 = 0.
angles.angle4 = 0.
angles.angle5 = 0
pub.publish(angles)
rate.sleep()
def cmd_publisher():
pub = rospy.Publisher('cmd_angle_topic', cmd_angles, queue_size=10)
rospy.init_node('cmd_publisher', anonymous=False)
rate = rospy.Rate(100) # 1 Hz
starttime = timing.micros()
while not rospy.is_shutdown():
timenow = timing.micros()
timenow = starttime - timenow
t1 = timenow / 1000000
angles = cmd_angles()
angles.angle1 = amplitude * sin(frequency * (t1) + 1 * np.pi / 4)
angles.angle2 = amplitude * sin(frequency * (t1) + 2 * np.pi / 4)
angles.angle3 = amplitude * sin(frequency * (t1) + 3 * np.pi / 4)
angles.angle4 = amplitude * sin(frequency * (t1) + 4 * np.pi / 4)
angles.angle5 = amplitude * sin(frequency * (t1) + 5 * np.pi / 4)
pub.publish(angles)
rate.sleep()
def cmd_publisher():
pub = rospy.Publisher('cmd_angle_topic', cmd_angles, queue_size=10)
rospy.init_node('cmd_publisher', anonymous=False)
rate = rospy.Rate(100) # 1 Hz
starttime = timing.micros()
while not rospy.is_shutdown():
timenow = timing.micros()
timenow = starttime - timenow
t1 = timenow / 1000000
angles = cmd_angles()
angles.angle1 = amplitude * sin(
1 * (t1) +
np.pi / 2) #amplitude*sin(frequency*(time.time()-1*phase_offset))
angles.angle2 = amplitude * sin(
1 * (t1) +
np.pi) #amplitude*sin(frequency*(time.time()-2*phase_offset))
angles.angle3 = amplitude * sin(
1 * (t1) + 3 * np.pi / 2
) #30.*sin(0.3*(t1)+np.pi/8)#amplitude*sin(frequency*(time.time()-3*phase_offset))
angles.angle4 = 0.0 #28.*sin(0.3*(t1)+np.pi/16)#30.*sin(1.*(t1))
angles.angle5 = 0.0 #amplitude*sin(frequency*(time.time()-5*phase_offset))
pub.publish(angles)
rate.sleep()