Just some random python tests interfacing with trajectory controllers

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Probably the most interesting one is scripts/controller_crazier.py.

It reads all the controllers available in the controller manager (using the service /controller_manager/list_controllers), sets up publishers for their topic command interfaces, reads the joint limits values of each joint and sends random goals between those values to all joints of all groups in with random different timings.

Why? Just for fun. Have a look at the results with REEM-C:

https://www.youtube.com/watch?v=UuHJQLcnpDo

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You can try it by yourself installing REEM-C simulation following this instructions:

http://wiki.ros.org/Robots/REEM-C/Tutorials/launch

Then you can just launch the simulation and the joint controllers:

roslaunch reemc_gazebo reemc_empty_world.launch
roslaunch reemc_controller_configuration joint_trajectory_controllers.launch

And, after it loads, you can just launch the node:

rosrun trajectory_controller_tests controller_crazier.py

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Try it also with PR2!:

Video: https://www.youtube.com/watch?v=TgIfXh6dexc

You'll need:

sudo apt-get install ros-hydro-pr2-gazebo

Then:

roslaunch pr2_gazebo pr2_empty_world.launch

And, after it loads, launch the hacky node:

rosrun trajectory_controller_tests pr2_controller_crazier.py