posture.py

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#!/usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
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import time

import roslib
roslib.load_manifest('robot_mechanism_controllers')
import rospy
from std_msgs.msg import *

rospy.init_node('posture_publisher', disable_signals=True, anonymous=True)

controller = rospy.myargv()[1]
posture = rospy.myargv()[2]


pub_posture = rospy.Publisher("/%s/command_posture" % controller, Float64MultiArray)
postures = {
    'off': [],
    'mantis': [0, 1, 0,  -1, 3.14, -1, 3.14],
    'elbowupr': [-0.79,0,-1.6,  9999, 9999, 9999, 9999],
    'elbowupl': [0.79,0,1.6 , 9999, 9999, 9999, 9999],
    'old_elbowupr': [-0.79,0,-1.6, -0.79,3.14, -0.79,5.49],
    'old_elbowupl': [0.79,0,1.6, -0.79,3.14, -0.79,5.49],
    'elbowdownr': [-0.028262077316910873, 1.2946342642324222, -0.25785640577652386, -1.5498884526859626, -31.278913849571776, -1.0527644894829107, -1.8127318367654268],
    'elbowdownl': [-0.0088195719039858515, 1.2834828245284853, 0.20338442004843196, -1.5565279256852611, -0.096340012666916802, -1.0235018652439782, 1.7990893054129216]
}

while not rospy.is_shutdown():
    m = Float64MultiArray(data = postures[posture])
    pub_posture.publish(m)
    time.sleep(1.0)