test_whole_body_controller.cpp
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34 
35 #include <ros/node.h>
36 #include <manipulation_msgs/JointTraj.h>
37 
38 static int done = 0;
39 
40 void finalize(int donecare)
41 {
42  done = 1;
43 }
44 
45 int main( int argc, char** argv )
46 {
47 
48  /*********** Initialize ROS ****************/
49  ros::init(argc,argv);
50  ros::Node *node = new ros::Node("test_arm_trajectory_controller");
51 
52  signal(SIGINT, finalize);
53  signal(SIGQUIT, finalize);
54  signal(SIGTERM, finalize);
55 
56 
57  /*********** Start moving the robot ************/
58  manipulation_msgs::JointTraj cmd;
59 
60  int num_points = 1;
61  int num_joints = 10;
62 
63  cmd.set_points_size(num_points);
64 
65  for(int i=0; i<num_points; i++)
66  cmd.points[i].set_positions_size(num_joints);
67 
68  cmd.points[0].positions[0] = 0.0;
69  cmd.points[0].positions[1] = 0.0;
70  cmd.points[0].positions[2] = 0.0;
71  cmd.points[0].positions[3] = -0.0;
72  cmd.points[0].positions[4] = 0.0;
73  cmd.points[0].positions[5] = 0.0;
74  cmd.points[0].positions[6] = 0.0;
75  cmd.points[0].positions[7] = -2.0;
76  cmd.points[0].positions[8] = 0.0;
77  cmd.points[0].positions[9] = -0.0;
78  cmd.points[0].time = 0.0;
79 
80  node->advertise<manipulation_msgs::JointTraj>("base/trajectory_controller/command",1);
81  sleep(1);
82  node->publish("base/trajectory_controller/command",cmd);
83  sleep(4);
84 
85 }
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
static int done
int main(int argc, char **argv)
void finalize(int donecare)


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Wed Jun 5 2019 19:34:08