control_base_position_ground_truth.py
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00001 #!/usr/bin/env python
00002 # Copyright (c) 2008, Willow Garage, Inc.
00003 # All rights reserved.
00004 #
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 #
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 #
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Vijay Pradeep
00030 # (Derived from pointhead.py)
00031 
00032 PKG = "pr2_mechanism_controllers"
00033 
00034 import roslib; roslib.load_manifest(PKG)
00035 
00036 import sys
00037 import os
00038 import string
00039 from time import sleep
00040 
00041 import rospy
00042 from geometry_msgs.msg import PointStamped, Point
00043 
00044 
00045 def control_base_pose_odom_frame(x,y,w):
00046     head_angles = rospy.Publisher('ground_truth_controller/set_cmd', Point)
00047     rospy.init_node('base_position_commander', anonymous=True)
00048     p = Point(x, y, w) ;
00049     sleep(1)
00050     head_angles.publish( p  )
00051     sleep(1)
00052 
00053 def usage():
00054     return "%s [pos_x] [pos_y] [theta (rad)]"%sys.argv[0]
00055 
00056 if __name__ == "__main__":
00057 
00058     if len(sys.argv) ==4:
00059         control_base_pose_odom_frame(float(sys.argv[1]), float(sys.argv[2]), float(sys.argv[3]) )
00060     else:
00061         print usage()
00062         sys.exit(1)
00063 


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Thu Aug 27 2015 14:22:52