get_joint_states.py
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00001 #!/usr/bin/env python
00002 import roslib; roslib.load_manifest('sr_utilities')
00003 import rospy
00004 from sensor_msgs.msg import JointState
00005 from sr_utilities.srv import getJointState
00006 import thread
00007 
00008 RATE=100
00009 
00010 class GetJointState:
00011     def __init__(self):
00012         rospy.init_node('get_joint_state_service', anonymous=True)
00013 
00014         self.subs_1 = rospy.Subscriber("/joint_states", JointState, self.callback1)
00015         self.serv = rospy.Service('/getJointState', getJointState, self.getJointStateCB)
00016         
00017 #        self.pub = rospy.Publisher("/joint_states", JointState)
00018 
00019         self.joint_state_msg = JointState()
00020         
00021         self.mutex = thread.allocate_lock()
00022 
00023         r = rospy.Rate( RATE )
00024         while not rospy.is_shutdown():
00025             #self.publish()
00026             r.sleep()
00027 
00028     def callback1(self, data):
00029         self.joint_state_msg = data
00030 
00031     def getJointStateCB(self,req):
00032         res=self.joint_state_msg
00033         return res
00034 
00035 if __name__ == '__main__':
00036     service = GetJointState()


sr_utilities
Author(s): Ugo Cupcic
autogenerated on Mon Oct 6 2014 07:42:15