play_as_joints.py
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00001 #!/usr/bin/env python
00002 import roslib; roslib.load_manifest('pr2_precise_trajectory')
00003 import rospy
00004 from pr2_precise_trajectory.converter import simple_to_joint_states, load_trajectory
00005 import sys
00006 
00007 if __name__ == '__main__':
00008     movements = load_trajectory( sys.argv[1] )
00009     rospy.init_node('play_as_joints')
00010     pub = rospy.Publisher('/arm_angles', JointState)
00011 
00012     for state in simple_to_joint_states(movements):
00013         wait = (state.header.stamp - rospy.Time.now()).to_sec()
00014         if wait > 0:
00015             rospy.sleep(wait)
00016         pub.publish(state)
00017 
00018         if rospy.is_shutdown():
00019             break
00020 
00021 


pr2_precise_trajectory
Author(s): David V. Lu!!
autogenerated on Sat Jun 8 2019 20:59:18