This is a python example on how to interact with this ROS subscriber to send commands to the hand.
#!/usr/bin/env python # # Copyright 2011 Shadow Robot Company Ltd. # # This program is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the Free # Software Foundation, either version 2 of the License, or (at your option) # any later version. # # This program is distributed in the hope that it will be useful, but WITHOUT # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or # FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for # more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see <http://www.gnu.org/licenses/>. # # -*- coding: utf-8 -*- """ This is an example showing how to publish command messages to the hand. """ import roslib; roslib.load_manifest('sr_hand') import rospy from sr_robot_msgs.msg import joint, sendupdate, contrlr def talker(): """ The Publisher publishes to the different topics on which the sr_subscriber subscribes. It sends commands to the hand. Please set the message you want to test. """ test_what = "sendupdate" # choose sendupdate or contrlr """ Test the sendupdate command """ if test_what == "sendupdate": pub1 = rospy.Publisher('srh/sendupdate', sendupdate) rospy.init_node('shadowhand_command_publisher_python') new_target = 0 data_to_send = [ joint(joint_name="FFJ0", joint_target=new_target), joint(joint_name="FFJ3", joint_target=new_target) ] pub1.publish(sendupdate(len(data_to_send), data_to_send)) """ Tests the contrlr command """ if test_what == "contrlr": pub2 = rospy.Publisher('contrlr', contrlr) data_to_send = ["p:0","i:0"] pub2.publish( contrlr( contrlr_name="smart_motor_ff2" , list_of_parameters = data_to_send, length_of_list = len(data_to_send) ) ) if __name__ == '__main__': try: talker() except rospy.ROSInterruptException: pass