def get_joint_position_msg(array, timeStamp=None):
"""
:param array: float array with values to the joints
"""
JointPositions = get_JointPositions()
JointValue = get_JointValue()
num_joints = len(array)
msg = JointPositions()
msg.poisonStamp.description = "Joint velocities generated by b2r2b"
for i in range(num_joints):
joint_value = JointValue()
joint_value.joint_uri = "arm_joint_" + str(i + 1)
if timeStamp is not None:
joint_value.timeStamp = timeStamp
joint_value.unit = "rad"
joint_value.value = array[i]
msg.positions.append(joint_value)
assert len(msg.positions) == num_joints
return msg
def get_published_topics(self):
JointPositions = get_JointPositions()
JointVelocities = get_JointVelocities()
t = []
t += [(self.topic_vel_cmd, JointVelocities)]
t += [(self.topic_pos_cmd, JointPositions)]
return t