Go to the documentation of this file.00001
00002 import rospy
00003 from sensor_msgs.msg import JointState
00004
00005 def fake_mir_joint_publisher():
00006 rospy.init_node('fake_mir_joint_publisher')
00007 pub = rospy.Publisher('joint_states', JointState, queue_size=10)
00008 r = rospy.Rate(50.0)
00009 while not rospy.is_shutdown():
00010 js = JointState()
00011 js.header.stamp = rospy.Time.now()
00012 js.name = ['left_wheel_joint', 'right_wheel_joint',
00013 'fl_caster_rotation_joint', 'fl_caster_wheel_joint',
00014 'fr_caster_rotation_joint', 'fr_caster_wheel_joint',
00015 'bl_caster_rotation_joint', 'bl_caster_wheel_joint',
00016 'br_caster_rotation_joint', 'br_caster_wheel_joint']
00017 js.position = [0.0 for _ in js.name]
00018 js.velocity = [0.0 for _ in js.name]
00019 js.effort = [0.0 for _ in js.name]
00020 pub.publish(js)
00021 r.sleep()
00022
00023
00024 if __name__ == '__main__':
00025 try:
00026 fake_mir_joint_publisher()
00027 except rospy.ROSInterruptException:
00028 pass