00001
00002
00003 import roslib
00004 roslib.load_manifest('ipa_canopen_tutorials')
00005 import rospy
00006 from cob_srvs.srv import Trigger
00007 from brics_actuator.msg import JointVelocities
00008 from brics_actuator.msg import JointValue
00009
00010 rospy.init_node("ipa_canopen_test")
00011
00012
00013 rospy.wait_for_service('/mockarm_controller/init')
00014 initService = rospy.ServiceProxy('/mockarm_controller/init', Trigger)
00015 resp = initService()
00016 print resp
00017
00018 velPublisher = rospy.Publisher('/mockarm_controller/command_vel', JointVelocities)
00019 rospy.sleep(2.0)
00020 v = JointVelocities()
00021 vv = JointValue()
00022 vv.timeStamp = rospy.Time.now()
00023 vv.joint_uri = "mockarm_1_joint"
00024 v.velocities = [vv]
00025
00026 while not rospy.is_shutdown():
00027 v.velocities[0].value = 0.2
00028 velPublisher.publish(v)
00029
00030 rospy.sleep(1.0)
00031
00032 v.velocities[0].value = 0
00033 velPublisher.publish(v)
00034
00035 rospy.sleep(1.0)
00036
00037 v.velocities[0].value = - 0.2
00038 velPublisher.publish(v)
00039
00040 rospy.sleep(1.0)
00041
00042 v.velocities[0].value = 0
00043 velPublisher.publish(v)
00044
00045 rospy.sleep(1.0)
