This is a python example on how to interact with this ROS publisher to read data published by 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/>. # """ This is a simple subscriber example, subscribing to the srh/shadowhand_data topic """ import roslib; roslib.load_manifest('sr_hand') import rospy from sr_robot_msgs.msg import joints_data, joint def callback(joint_data): """ The callback function for the topic srh/shadowhand_Data. It just displays the received information on the console. @param joint_data: the message containing the joint data. """ for joint in joint_data.joints_list: rospy.loginfo(rospy.get_name()+"[%s] : Pos = %f | Target = %f | Temp = %f | Current = %f", joint.joint_name, joint.joint_position, joint.joint_target, joint.joint_temperature, joint.joint_current) def listener(): """ Initialize the ROS node and the topic to which it subscribes. """ rospy.init_node('shadowhand_subscriber_python', anonymous=True) rospy.Subscriber("srh/shadowhand_data", joints_data, callback) rospy.spin() if __name__ == '__main__': listener()