compute_joint_0_target.py
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00001 #!/usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('sr_robot_lib')
00004 import rospy
00005 
00006 from sensor_msgs.msg import JointState
00007 from std_msgs.msg import Float64
00008 
00009 class Merger(object):
00010     def __init__(self):
00011         self.subscriber = rospy.Subscriber("/joint_states", JointState, self.callback)
00012         self.publisher = rospy.Publisher("/lfj0_target", Float64)
00013 
00014     def callback(self,data):
00015         msg_to_send = Float64()
00016 
00017         msg_to_send.data = data.position[17] + data.position[18]
00018 
00019         self.publisher.publish(msg_to_send)
00020 
00021 if __name__ == '__main__':
00022     rospy.init_node("merger", anonymous=True)
00023     merger = Merger()
00024     rospy.spin()
00025 
00026 
00027 
00028 


sr_robot_lib
Author(s): Ugo Cupcic, Toni Oliver
autogenerated on Thu Aug 27 2015 15:16:37