test_publisher_twist_sine.py
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00001 #!/usr/bin/env python
00002 #
00003 # Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
00004 #
00005 # Licensed under the Apache License, Version 2.0 (the "License");
00006 # you may not use this file except in compliance with the License.
00007 # You may obtain a copy of the License at
00008 #
00009 #   http://www.apache.org/licenses/LICENSE-2.0
00010 #
00011 # Unless required by applicable law or agreed to in writing, software
00012 # distributed under the License is distributed on an "AS IS" BASIS,
00013 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00014 # See the License for the specific language governing permissions and
00015 # limitations under the License.
00016 
00017 
00018 import rospy
00019 import math
00020 from geometry_msgs.msg import Twist
00021 
00022 
00023 def velPub():
00024   rospy.init_node("test_publisher_twist", anonymous=True)
00025 
00026   pub_vel = rospy.Publisher("command", Twist, queue_size=1)
00027   rospy.sleep(1.0)
00028 
00029   freq = 10.0
00030   r = rospy.Rate(freq)
00031 
00032   a = 0.5#-1.0
00033   b = 0.1 * (2.0*math.pi/freq)
00034   c = -math.pi/2.0
00035   d = a
00036   i = 0.0
00037   
00038   vel_msg = Twist()
00039   time = rospy.Time.now()
00040 
00041   while not rospy.is_shutdown():
00042     vel = a*math.sin(b*i+c) + d
00043     #print("vel: ", vel)
00044     vel_msg.angular.z = vel
00045     pub_vel.publish(vel_msg)
00046     i += 1.0
00047     r.sleep()
00048 
00049 if __name__ == '__main__':
00050   try:
00051       velPub()
00052   except rospy.ROSInterruptException: pass


cob_omni_drive_controller
Author(s): Christian Connette, Mathias Lüdtke
autogenerated on Thu Jun 6 2019 21:19:19