tools.py

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#!/usr/bin/env python
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# Author Melonee Wise

import roslib; roslib.load_manifest('joint_trajectory_action_tools')
import rospy

from pr2_controllers_msgs.msg import *
from trajectory_msgs.msg import JointTrajectoryPoint

def get_action_goal(ns):
  joint_space_goal = JointTrajectoryGoal()
  joint_names = rospy.get_param(ns +"/joint_names")
  joint_space_goal.trajectory.joint_names = joint_names
  waypoints = rospy.get_param(ns +"/waypoints")
  for waypoint in waypoints:
    joint_space_goal.trajectory.points.append(JointTrajectoryPoint(positions = waypoint[0], velocities = waypoint[1], accelerations = waypoint[2], time_from_start = rospy.Duration(waypoint[3])))

  return joint_space_goal