cob_lookat_controller: test_cmd_vel_publisher.py Source File

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00001 #!/usr/bin/env python
00002 import roslib;
00003 roslib.load_manifest('cob_lookat_controller')
00004 import rospy
00005 from std_msgs.msg import Float64MultiArray
00006 
00007 def start_node():
00008     rospy.init_node('test_cmd_vel_publisher', anonymous=True)
00009     #advertise topic
00010     pub = rospy.Publisher('/driver/command_vel', Float64MultiArray, queue_size=1)
00011     rospy.sleep(1.0)
00012     
00013     msg = Float64MultiArray()
00014     #'lookat_lin_joint'
00015     msg.data.append(0.1)
00016     #'lookat_x_joint'
00017     msg.data.append(0.0)
00018     #'lookat_y_joint'
00019     msg.data.append(0.0)
00020     #'lookat_z_joint'
00021     msg.data.append(0.0)
00022 
00023     #print msg
00024     rospy.loginfo("publishing now!")
00025     pub.publish(msg)
00026     rospy.sleep(1.0)
00027 
00028 
00029 if __name__ == '__main__':
00030     start_node()
00031