fake_group_interface.py

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# Copyright 2015, Fetch Robotics Inc.
# Copyright 2011-2014, Michael Ferguson
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import rospy
from sensor_msgs.msg import JointState

## @brief This provides an interface to the "fake_controller" aspects of
##        the MoveIt demo.launch files.
class FakeGroupInterface(object):
    
    ## @brief Signature intended to match real interface, params not used
    def __init__(self, group, frame, listener=None, plan_only=False):
        self.pub = rospy.Publisher("/move_group/fake_controller_joint_states",
                                   JointState,
                                   queue_size=10)

    ## @brief This is modeled such that we can use the fake interface as a
    ##        drop in replacement for the real interface.
    def moveToJointPosition(self, joints, positions, **kwargs):
        msg = JointState()
        msg.header.stamp = rospy.Time.now()
        msg.name = joints
        msg.position = positions
        self.pub.publish(msg)