def print_usage(exit_code=0):
print '''Usage:
send_periodic_cmd.py [controller]
'''
sys.exit(exit_code)
if __name__ == '__main__':
if len(sys.argv) < 2:
print_usage()
cmd = LaserTrajCmd()
controller = sys.argv[1]
cmd.header = roslib.msg.Header(None, None, None)
cmd.profile = "blended_linear"
#cmd.pos = [1.0, .26, -.26, -.7, -.7, -.26, .26, 1.0, 1.0]
d = .025
#cmd.time = [0.0, 0.4, 1.0, 1.1, 1.1+d, 1.2+d, 1.8+d, 2.2+d, 2.2+2*d]
cmd.pos = [1.2, -.7, 1.2]
cmd.time = [0.0, 1.8, 2.025]
cmd.max_rate = 5 # Ignores param
cmd.max_accel = 5 # ignores param
print 'Sending Command to %s: ' % controller
print ' Profile Type: %s' % cmd.profile
print ' Pos: %s ' % ','.join(['%.3f' % x for x in cmd.pos])
print ' Time: %s' % ','.join(['%.3f' % x for x in cmd.time])
print ' MaxRate: %f' % cmd.max_rate
def print_usage(exit_code=0):
print '''Usage:
send_periodic_cmd.py [controller]
'''
sys.exit(exit_code)
if __name__ == '__main__':
if len(sys.argv) < 2:
print_usage()
cmd = LaserTrajCmd()
controller = sys.argv[1]
cmd.header = rospy.Header(None, None, None)
cmd.profile = "blended_linear"
cycle_time = rospy.get_param('~cycle_time', 5.0)
min_tilt_angle = rospy.get_param('~min_tilt_angle', -0.7)
max_tilt_angle = rospy.get_param('~max_tilt_angle', 1.0)
cmd.position = [min_tilt_angle, max_tilt_angle, min_tilt_angle]
cmd.time_from_start = [0.0, cycle_time - 1.0, cycle_time]
cmd.time_from_start = [
rospy.Duration.from_sec(x) for x in cmd.time_from_start
]
cmd.max_velocity = 10
cmd.max_acceleration = 30
print 'Sending Command to %s: ' % controller
import sys import os import string import rospy from std_msgs import * from pr2_msgs.msg import LaserTrajCmd from pr2_msgs.srv import * from time import sleep cmd = LaserTrajCmd() controller = 'laser_tilt_controller' cmd.header = rospy.Header(None, None, None) cmd.profile = "blended_linear" #cmd.pos = [1.0, .26, -.26, -.7, -.7, -.26, .26, 1.0, 1.0] d = .025 #cmd.time = [0.0, 0.4, 1.0, 1.1, 1.1+d, 1.2+d, 1.8+d, 2.2+d, 2.2+2*d] dur = 15; cmd.position = [-1.0, 0, 1] cmd.time_from_start = [0.0, dur, dur+1] cmd.time_from_start = [rospy.Duration.from_sec(x) for x in cmd.time_from_start] cmd.max_velocity = 10 cmd.max_acceleration = 30 print 'Sending Command to %s: ' % controller print ' Profile Type: %s' % cmd.profile print ' Pos: %s ' % ','.join(['%.3f' % x for x in cmd.position])
