Go to the documentation of this file.00001
00002
00003 import roslib; roslib.load_manifest('pi_tracker')
00004 import rospy
00005 import sys
00006
00007 from ax12_controller_core.srv import SetTorqueLimit
00008
00009 class RelaxJoints():
00010 def __init__(self, enable):
00011 rospy.init_node('relax_joints')
00012 self.controller_namespace = rospy.get_param('controller_namespace', '/ax12_controller')
00013
00014 self.set_torque_limit = dict()
00015 dynamixels = rospy.get_param(self.controller_namespace+'/dynamixels', dict())
00016 for name in sorted(dynamixels):
00017 rospy.wait_for_service(self.controller_namespace+'/'+name+'_controller/set_torque_limit')
00018 self.set_torque_limit[name] = rospy.ServiceProxy(self.controller_namespace+'/'+name+'_controller/set_torque_limit', SetTorqueLimit)
00019 rospy.loginfo(name)
00020 self.set_torque_limit[name](0.0)
00021
00022 if __name__ == '__main__':
00023 try:
00024 RelaxJoints(float(sys.argv[1]))
00025 except rospy.ROSInterruptException:
00026 pass