fake_mir_joint_publisher.py
Go to the documentation of this file.
1 #!/usr/bin/env python
2 import rospy
3 from sensor_msgs.msg import JointState
4 
6  rospy.init_node('fake_mir_joint_publisher')
7  pub = rospy.Publisher('joint_states', JointState, queue_size=10)
8  r = rospy.Rate(50.0)
9  while not rospy.is_shutdown():
10  js = JointState()
11  js.header.stamp = rospy.Time.now()
12  js.name = ['left_wheel_joint', 'right_wheel_joint',
13  'fl_caster_rotation_joint', 'fl_caster_wheel_joint',
14  'fr_caster_rotation_joint', 'fr_caster_wheel_joint',
15  'bl_caster_rotation_joint', 'bl_caster_wheel_joint',
16  'br_caster_rotation_joint', 'br_caster_wheel_joint']
17  js.position = [0.0 for _ in js.name]
18  js.velocity = [0.0 for _ in js.name]
19  js.effort = [0.0 for _ in js.name]
20  pub.publish(js)
21  r.sleep()
22 
23 
24 if __name__ == '__main__':
25  try:
27  except rospy.ROSInterruptException:
28  pass


mir_driver
Author(s): Martin G√ľnther
autogenerated on Wed May 8 2019 02:38:53