def getRate(wheel_num):
buff = GetJointProperties()
buff.joint_name = robot_name + seperator + wheel_dict[
wheel_num] + wheel_hinge
val = get_effort(buff.joint_name)
#print("Wheel", wheel_dict[wheel_num], "Effort:", val.rate[0])
return val.rate[0]
def getPos(pub):
buff = GetJointProperties()
buff.joint_name = 'cc_robot::left_wheel_hinge'
val = pub(buff.joint_name)
leftw = val.rate[0]
buff.joint_name = 'cc_robot::right_wheel_hinge'
val = pub(buff.joint_name)
rightw = val.rate[0]
v = (leftw, rightw)
return v