head_cmder.py

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#!/usr/bin/env python
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##\author Melonee Wise
##\brief Commands PR2 head for burn in test

PKG = "life_test"

import roslib; roslib.load_manifest(PKG)

import random
import rospy

from sensor_msgs.msg import JointState

head_pub = None

def point_head(pan, tilt):
    js = JointState()
    js.name = ['head_pan_joint', 'head_tilt_joint']
    js.position = [ pan, tilt ]
    js.header.stamp = rospy.get_rostime()
    head_pub.publish(js)

if __name__ == "__main__":
   rospy.init_node('head_commander')
   head_pub = rospy.Publisher('head_controller/command', JointState)

   rate = rospy.get_param('cycle_rate', 1.0)
   my_rate = rospy.Rate(float(rate))

   while not rospy.is_shutdown():
       pan = random.uniform(-2.7, 2.7)
       tilt = random.uniform(-0.30, 1.10)
       point_head(pan, tilt)
       my_rate.sleep()