3dof_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 import copy
00007 from cob_srvs.srv import Trigger
00008 from brics_actuator.msg import JointVelocities
00009 from brics_actuator.msg import JointValue
00010 
00011 rospy.init_node("ipa_canopen_test")
00012 
00013 rospy.wait_for_service('/tray_controller/init')
00014 print "found init"
00015 initService = rospy.ServiceProxy('/tray_controller/init', Trigger)
00016 resp = initService()
00017 
00018 velPublisher = rospy.Publisher('/tray_controller/command_vel', JointVelocities)
00019 rospy.sleep(2.0)
00020 v = JointVelocities()
00021 vv1 = JointValue()
00022 vv1.timeStamp = rospy.Time.now()
00023 vv1.joint_uri = "tray_1_joint"
00024 vv2 = copy.deepcopy(vv1)
00025 vv2.joint_uri = "tray_2_joint"
00026 vv3 = copy.deepcopy(vv1)
00027 vv3.joint_uri = "tray_3_joint"
00028 v.velocities = [vv1,vv2,vv3]
00029 
00030 v.velocities[0].value = 0.0
00031 
00032 while not rospy.is_shutdown():
00033     v.velocities[0].value = 0.05
00034     v.velocities[1].value = 0.05
00035     velPublisher.publish(v)
00036 
00037     rospy.sleep(1.0)
00038 
00039     v.velocities[0].value = 0
00040     v.velocities[1].value = 0
00041     velPublisher.publish(v)
00042 
00043     rospy.sleep(1.0)
00044 
00045     v.velocities[0].value = - 0.05
00046     v.velocities[1].value = - 0.05
00047     velPublisher.publish(v)
00048 
00049     rospy.sleep(1.0)
00050 
00051     v.velocities[0].value = 0
00052     v.velocities[1].value = 0
00053     velPublisher.publish(v)
00054 
00055     rospy.sleep(1.0)


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