Python joint_command示例

示例#1

 def publish_torques(self):
     msg = joint_command(torque=[
         self.j0, self.j1, self.j2, self.j3, self.j4, self.j5, self.j6,
         self.j7, self.j8, self.j9, self.j10, self.j11, self.j12, self.j13,
         self.j14, self.j15
     ])
     self.pub.publish(msg)
     print "published!"

示例#2

文件： test_joint_publishing.py 项目： Applied-Dexterity/raven_2

import roslib
roslib.load_manifest("rospy")
roslib.load_manifest("raven_2")
from raven_2.msg import raven_state, joint_command
import rospy
import sensor_msgs.msg as sm

rospy.init_node("test_joint_publishing")
print "getting joint state"
joint_state_msg = rospy.wait_for_message("joint_states", sm.JointState, timeout = 4)

assert isinstance(joint_state_msg, sm.JointState)

torque = [0 for _ in xrange(8)]
torque[4] +=.03

pub = rospy.Publisher("joint_cmd1", joint_command)
rospy.sleep(.5)

msg = joint_command(torque = torque)
pub.publish(msg)

print "done!"

示例#3

文件： test_joint_publishing.py 项目： zhangfaquan/raven_2

import roslib
roslib.load_manifest("rospy")
roslib.load_manifest("raven_2")
from raven_2.msg import raven_state, joint_command
import rospy
import sensor_msgs.msg as sm

rospy.init_node("test_joint_publishing")
print "getting joint state"
joint_state_msg = rospy.wait_for_message("joint_states",
                                         sm.JointState,
                                         timeout=4)

assert isinstance(joint_state_msg, sm.JointState)

torque = [0 for _ in xrange(8)]
torque[4] += .03

pub = rospy.Publisher("joint_cmd1", joint_command)
rospy.sleep(.5)

msg = joint_command(torque=torque)
pub.publish(msg)

print "done!"

示例#4

文件： joint_torque_gui.py 项目： Applied-Dexterity/raven_2

 def publish_torques(self):
     msg = joint_command(
         torque = [self.j0, self.j1, self.j2, self.j3, self.j4, self.j5, self.j6, self.j7, self.j8, self.j9, self.j10, self.j11, self.j12, self.j13, self.j14, self.j15])
     self.pub.publish(msg)
     print "published!"