fake_wheel_publisher.py
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00001 #!/usr/bin/env python
00002 import roslib; roslib.load_manifest('kurt_base')
00003 import rospy
00004 from sensor_msgs.msg import JointState
00005 def fake_wheel_publisher():
00006     pub = rospy.Publisher('/joint_states', JointState, queue_size=100)
00007     rospy.init_node('fake_wheel_publisher')
00008     while not rospy.is_shutdown():
00009         js = JointState()
00010         js.header.stamp = rospy.Time.now()
00011         js.name = ['left_front_wheel_joint', 'left_middle_wheel_joint', 'left_rear_wheel_joint', 'right_front_wheel_joint', 'right_middle_wheel_joint', 'right_rear_wheel_joint']
00012         js.position = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
00013         pub.publish(js)
00014         rospy.sleep(0.02)
00015 if __name__ == '__main__':
00016     try:
00017         fake_wheel_publisher()
00018     except rospy.ROSInterruptException: pass


kurt_base
Author(s): Jochen Sprickerhof
autogenerated on Thu Aug 27 2015 13:44:43