def relax_arm(self, arm):
"""
Relax one of the arms of the robot.
Args:
arm: Either TRIAL_ARM or AUXILIARY_ARM.
"""
relax_command = RelaxCommand()
relax_command.id = self._get_next_seq_id()
relax_command.stamp = rospy.get_rostime()
relax_command.arm = arm
self._relax_service.publish_and_wait(relax_command)
import roslib
roslib.load_manifest('gps_agent_pkg')
from gps_agent_pkg.msg import PositionCommand
from gps_agent_pkg.msg import RelaxCommand
pos_pub = rospy.Publisher('/gps_controller_position_command', PositionCommand)
relax_pub = rospy.Publisher('/gps_controller_relax_command', RelaxCommand)
rospy.init_node('controller_pub_node')
r = rospy.Rate(10) # 10hz
count = 0
while not rospy.is_shutdown():
if (count % 1000 < 250):
new_msg = PositionCommand(mode=1,
arm=1,
data=[-0.75, -0.5, -0.5, 0.5, 0.5, 0.5, 0.5])
pos_pub.publish(new_msg)
elif (count % 1000 < 500):
new_msg = PositionCommand(mode=1,
arm=1,
data=[0.75, -0.5, -0.5, 0.5, 0.5, 0.5, 0.5])
pos_pub.publish(new_msg)
else:
new_msg_relax = RelaxCommand(arm=0)
relax_pub.publish(new_msg_relax)
new_msg_relax = RelaxCommand(arm=1)
relax_pub.publish(new_msg_relax)
count += 1
r.sleep()
#pub.publish("hello world")