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00001 #!/usr/bin/env python 00002 # Copyright (c) 2008, Willow Garage, Inc. 00003 # All rights reserved. 00004 # 00005 # Redistribution and use in source and binary forms, with or without 00006 # modification, are permitted provided that the following conditions are met: 00007 # 00008 # * Redistributions of source code must retain the above copyright 00009 # notice, this list of conditions and the following disclaimer. 00010 # * Redistributions in binary form must reproduce the above copyright 00011 # notice, this list of conditions and the following disclaimer in the 00012 # documentation and/or other materials provided with the distribution. 00013 # * Neither the name of the Willow Garage, Inc. nor the names of its 00014 # contributors may be used to endorse or promote products derived from 00015 # this software without specific prior written permission. 00016 # 00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 # POSSIBILITY OF SUCH DAMAGE. 00028 00029 # Author: Vijay Pradeep 00030 # (Derived from pointhead.py) 00031 00032 PKG = "pr2_mechanism_controllers" 00033 00034 import roslib; roslib.load_manifest(PKG) 00035 00036 import sys 00037 import os 00038 import string 00039 from time import sleep 00040 00041 import rospy 00042 from geometry_msgs.msg import PointStamped, Point 00043 00044 00045 def control_base_pose_odom_frame(x,y,w): 00046 head_angles = rospy.Publisher('ground_truth_controller/set_cmd', Point) 00047 rospy.init_node('base_position_commander', anonymous=True) 00048 p = Point(x, y, w) ; 00049 sleep(1) 00050 head_angles.publish( p ) 00051 sleep(1) 00052 00053 def usage(): 00054 return "%s [pos_x] [pos_y] [theta (rad)]"%sys.argv[0] 00055 00056 if __name__ == "__main__": 00057 00058 if len(sys.argv) ==4: 00059 control_base_pose_odom_frame(float(sys.argv[1]), float(sys.argv[2]), float(sys.argv[3]) ) 00060 else: 00061 print usage() 00062 sys.exit(1) 00063