caster_steer_cmder.py

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#! /usr/bin/env python
#
# Copyright (c) 2009, Willow Garage, Inc.
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##\author Kevin Watts

PKG = 'life_test'
import roslib
roslib.load_manifest(PKG)
import time
import random
import rospy
from std_msgs.msg import Float64

ROTATION_JOINT = 'fl_caster_rotation_joint'
TOPIC_PREFIX = 'caster_fl'

# CHANGE THIS NUMBER TO CHANGE THE STEER VELOCITY OF THE CASTER
STEER_VEL = 6.0 
SPEED = 0.0

                    
def main():
    rospy.init_node('caster_cmder')
    pub_steer = rospy.Publisher("%s/steer" % TOPIC_PREFIX, Float64)
    pub_drive = rospy.Publisher("%s/drive" % TOPIC_PREFIX, Float64)
    pub_steer.publish(Float64(0.0))
    pub_drive.publish(Float64(0.0))

    my_rate = rospy.Rate(float(rospy.get_param('cycle_rate', 1.0)))
    while not rospy.is_shutdown():
        #pub_steer.publish(Float64(0.0))
        pub_steer.publish(Float64(STEER_VEL))
        pub_drive.publish(Float64(SPEED))

        my_rate.sleep()
        

if __name__ == '__main__':
    main()