send_periodic_cmd.py
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00001 #!/usr/bin/env python
00002 
00003 PKG = "pr2_mechanism_controllers"
00004 
00005 import roslib; roslib.load_manifest(PKG) 
00006 
00007 import sys
00008 import os
00009 import string
00010 
00011 import rospy
00012 from std_msgs import *
00013 
00014 from pr2_msgs.msg import PeriodicCmd
00015 from time import sleep
00016 
00017 def print_usage(exit_code = 0):
00018     print '''Usage:
00019     send_periodic_cmd.py [controller] [profile] [period] [amplitude] [offset]
00020        - [profile]   - Possible options are linear or linear_blended
00021        - [period]    - Time for one entire cycle to execute (in seconds)
00022        - [amplitude] - Distance max value to min value of profile (In radians for laser_tilt controller)
00023        - [offset]    - Constant cmd to add to profile (offset=0 results in profile centered around 0)
00024 '''
00025     sys.exit(exit_code)
00026 
00027 if __name__ == '__main__':
00028     rospy.init_node('periodic_cmd_commander', sys.argv, anonymous=True)
00029 
00030     if len(sys.argv) != 6:
00031         print_usage()
00032 
00033     cmd = PeriodicCmd()
00034     controller =    sys.argv[1]
00035     cmd.header =    rospy.Header(None, None, None)
00036     cmd.profile =   sys.argv[2] 
00037     cmd.period =    float (sys.argv[3])
00038     cmd.amplitude = float (sys.argv[4])
00039     cmd.offset =    float (sys.argv[5])
00040 
00041     print 'Sending Command to %s: ' % controller
00042     print '  Profile Type: %s' % cmd.profile
00043     print '  Period:       %f Seconds' % cmd.period
00044     print '  Amplitude:    %f Radians' % cmd.amplitude
00045     print '  Offset:       %f Radians' % cmd.offset
00046 
00047     command_publisher = rospy.Publisher(controller + '/set_periodic_cmd', PeriodicCmd)
00048     sleep(1)
00049     command_publisher.publish( cmd )
00050 
00051     sleep(1)
00052 
00053     print 'Command sent!'


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Thu Apr 24 2014 15:44:51