tools.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2009, Willow Garage, Inc.
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00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 # Author Melonee Wise
00035 
00036 import roslib; roslib.load_manifest('joint_trajectory_action_tools')
00037 import rospy
00038 
00039 from pr2_controllers_msgs.msg import *
00040 from trajectory_msgs.msg import JointTrajectoryPoint
00041 
00042 def get_action_goal(ns):
00043   joint_space_goal = JointTrajectoryGoal()
00044   joint_names = rospy.get_param(ns +"/joint_names")
00045   joint_space_goal.trajectory.joint_names = joint_names
00046   waypoints = rospy.get_param(ns +"/waypoints")
00047   for waypoint in waypoints:
00048     joint_space_goal.trajectory.points.append(JointTrajectoryPoint(positions = waypoint[0], velocities = waypoint[1], accelerations = waypoint[2], time_from_start = rospy.Duration(waypoint[3])))
00049 
00050   return joint_space_goal
00051     
00052 


joint_trajectory_action_tools
Author(s): Melonee Wise
autogenerated on Tue Apr 22 2014 19:30:28