test_whole_body_controller.cpp
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00034 
00035 #include <ros/node.h>
00036 #include <manipulation_msgs/JointTraj.h>
00037 
00038 static int done = 0;
00039 
00040 void finalize(int donecare)
00041 {
00042   done = 1;
00043 }
00044 
00045 int main( int argc, char** argv )
00046 {
00047 
00048   /*********** Initialize ROS  ****************/
00049   ros::init(argc,argv);
00050   ros::Node *node = new ros::Node("test_arm_trajectory_controller"); 
00051 
00052   signal(SIGINT,  finalize);
00053   signal(SIGQUIT, finalize);
00054   signal(SIGTERM, finalize);
00055 
00056 
00057   /*********** Start moving the robot ************/
00058   manipulation_msgs::JointTraj cmd;
00059 
00060   int num_points = 1;
00061   int num_joints = 10;
00062 
00063   cmd.set_points_size(num_points);
00064 
00065   for(int i=0; i<num_points; i++)
00066     cmd.points[i].set_positions_size(num_joints);
00067 
00068   cmd.points[0].positions[0] = 0.0;
00069   cmd.points[0].positions[1] = 0.0;
00070   cmd.points[0].positions[2] = 0.0;
00071   cmd.points[0].positions[3] = -0.0;
00072   cmd.points[0].positions[4] = 0.0;
00073   cmd.points[0].positions[5] = 0.0;
00074   cmd.points[0].positions[6] = 0.0;
00075   cmd.points[0].positions[7] = -2.0;
00076   cmd.points[0].positions[8] = 0.0;
00077   cmd.points[0].positions[9] = -0.0;
00078   cmd.points[0].time = 0.0;
00079 
00080   node->advertise<manipulation_msgs::JointTraj>("base/trajectory_controller/command",1);
00081   sleep(1);
00082   node->publish("base/trajectory_controller/command",cmd);
00083   sleep(4);
00084   
00085 }


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