def joint_position_request_cb(userdata, request):
joint = JointPosition()
joint.position = userdata.input_position
joint.max_velocity_scaling_factor = 1.0
joint.max_accelerations_scaling_factor = 1.0
request.planning_group = userdata.input_planning_group
request.joint_position = joint
return request
def test_rotate():
_qpose = JointPosition()
_qpose.joint_name = ["joint1", "joint2", "joint3", "joint4"]
_qpose.position = [0.5, 0.0, 0.0, 0.5]
_qpose.max_accelerations_scaling_factor = 0.0
_qpose.max_velocity_scaling_factor = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_joint_space_path_from_present", SetJointPosition
)
_ = task_space_srv("arm", _qpose, 2.0)
except rospy.ServiceException, e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
