00001 #!/usr/bin/env python 00002 import rospy 00003 from jsk_network_tools.msg import FC2OCS 00004 00005 if __name__ == "__main__": 00006 rospy.init_node("fc2ocs_test_publisher") 00007 pub = rospy.Publisher("fc2ocs_original", FC2OCS) 00008 pub_rate = rospy.get_param("~pub_rate", 1000) 00009 r = rospy.Rate(pub_rate) 00010 while not rospy.is_shutdown(): 00011 msg = FC2OCS() 00012 msg.joint_angles = [10] * 32 00013 msg.servo_state = True 00014 pub.publish(msg) 00015 r.sleep() 00016