relayboard_sim.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('cob_relayboard')
import rospy
import time
from cob_relayboard.msg import EmergencyStopState
#from pr2_msgs.msg import PowerState

def relayboard_sim():
        rospy.init_node('cob_relayboard_sim')

        # emergency_stop topic
        pub_em_stop = rospy.Publisher('/emergency_stop_state', EmergencyStopState)
        msg_em = EmergencyStopState()
        msg_em.emergency_button_stop = False
        msg_em.scanner_stop = False
        msg_em.emergency_state = 0

        # power_state topic
        #pub_power = rospy.Publisher('/power_state', PowerState)
        #msg_power = PowerState()
        #msg_power.header.stamp = rospy.Time.now()
        #msg_power.time_remaining.secs = 1000
        #msg_power.relative_capacity = 70

        while not rospy.is_shutdown():
                pub_em_stop.publish(msg_em)
                #pub_power.publish(msg_power) comes already out of gazebo
                rospy.sleep(1.0)

if __name__ == '__main__':
        try:
                relayboard_sim()
        except rospy.ROSInterruptException: 
                print "Interupted"
                pass