def publish_joint_states(self):
data = JointStateMoveIt()
data.name = self.name
data.position = self.current_pos
data.velocity = self.velocity
data.effort = self.load
data.header.stamp = rospy.get_rostime()
data.header.frame_id = "base_link"
self.joint_states_pub.publish(data)
def publish_joint_states(self):
# Construct message & publish joint states
msg = JointStateMoveIt()
msg.name = []
msg.position = []
msg.velocity = []
msg.effort = []
msg.name.append(self.joint1name)
msg.position.append(self.joint1current_pos)
msg.velocity.append(self.joint1velocity)
msg.effort.append(self.joint1load)
msg.name.append(self.joint2name)
msg.position.append(self.joint2current_pos)
msg.velocity.append(self.joint2velocity)
msg.effort.append(self.joint2load)
msg.name.append(self.joint3name)
msg.position.append(self.joint3current_pos)
msg.velocity.append(self.joint3velocity)
msg.effort.append(self.joint3load)
msg.name.append(self.joint4name)
msg.position.append(self.joint4current_pos)
msg.velocity.append(self.joint4velocity)
msg.effort.append(self.joint4load)
msg.name.append(self.joint5name)
msg.position.append(self.joint5current_pos)
msg.velocity.append(self.joint5velocity)
msg.effort.append(self.joint5load)
msg.name.append(self.joint6name)
msg.position.append(self.joint6current_pos)
msg.velocity.append(self.joint6velocity)
msg.effort.append(self.joint6load)
msg.name.append(self.joint7name)
msg.position.append(self.joint7current_pos)
msg.velocity.append(self.joint7velocity)
msg.effort.append(self.joint7load)
msg.name.append(self.joint8name)
msg.position.append(self.joint8current_pos)
msg.velocity.append(self.joint8velocity)
msg.effort.append(self.joint8load)
msg.name.append(self.joint9name)
msg.position.append(self.joint9current_pos)
msg.velocity.append(self.joint9velocity)
msg.effort.append(self.joint9load)
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = 'base_link'
self.joint_states_pub.publish(msg)
def publish_joint_states(self):
joint_state = JointStateMoveIt()
joint_state.header = self.header
joint_state.name = self.name
joint_state.position = self.current_pos
joint_state.velocity = self.velocity
joint_state.effort = self.load
print self.header
# print joint_state
self.joint_states_pub.publish(joint_state)
def publish_joint_states(self):
# Construct message & publish joint states
# Create message:
joint_states = JointStateMoveIt()
joint_states.header.stamp = rospy.Time.now()
joint_states.header.frame_id = "world"
joint_states.name = self.name
joint_states.position = self.current_pos
joint_states.velocity = self.velocity
joint_states.effort = self.load
# Send joint states:
self.joint_states_pub.publish(joint_states)
def publish_joint_states(self):
# Construct message & publish joint states
msg = JointStateMoveIt()
msg.name = []
msg.position = []
msg.velocity = []
msg.effort = []
for joint in self.joint_states.values():
# rospy.loginfo("jn="+joint.name+",jp="+str(joint.position*100))
msg.name.append(joint.name)
msg.position.append(joint.position)
msg.velocity.append(joint.velocity)
msg.effort.append(joint.effort)
msg.header.stamp = rospy.Time.now()
self.joint_states_pub.publish(msg)
def publish_joint_states(self):
# Construct message & publish joint states
msg = JointStateMoveIt()
msg.name = []
msg.position = []
msg.velocity = []
msg.effort = []
for joint in self.joints:
msg.name.append(joint)
msg.position.append(self.joints[joint]['pos'])
msg.velocity.append(self.joints[joint]['vel'])
msg.effort.append(self.joints[joint]['load'])
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = 'base_link'
self.joint_states_pub.publish(msg)