1dof_velcommander.py
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00001 #!/usr/bin/python
00002 
00003 import roslib
00004 roslib.load_manifest('ipa_canopen_tutorials')
00005 import rospy
00006 from cob_srvs.srv import Trigger
00007 from brics_actuator.msg import JointVelocities
00008 from brics_actuator.msg import JointValue
00009 
00010 rospy.init_node("ipa_canopen_test")
00011 
00012 
00013 rospy.wait_for_service('/mockarm_controller/init')
00014 initService = rospy.ServiceProxy('/mockarm_controller/init', Trigger)
00015 resp = initService()
00016 print resp
00017 
00018 velPublisher = rospy.Publisher('/mockarm_controller/command_vel', JointVelocities)
00019 rospy.sleep(2.0)
00020 v = JointVelocities()
00021 vv = JointValue()
00022 vv.timeStamp = rospy.Time.now()
00023 vv.joint_uri = "mockarm_1_joint"
00024 v.velocities = [vv]
00025 
00026 while not rospy.is_shutdown():
00027     v.velocities[0].value = 0.2
00028     velPublisher.publish(v)
00029 
00030     rospy.sleep(1.0)
00031 
00032     v.velocities[0].value = 0
00033     velPublisher.publish(v)
00034 
00035     rospy.sleep(1.0)
00036 
00037     v.velocities[0].value = - 0.2
00038     velPublisher.publish(v)
00039 
00040     rospy.sleep(1.0)
00041     
00042     v.velocities[0].value = 0
00043     velPublisher.publish(v)
00044 
00045     rospy.sleep(1.0)


ipa_canopen_tutorials
Author(s): tys
autogenerated on Mon Jan 6 2014 11:24:16