sensor_info.py
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00001 #! /usr/bin/python
00002 
00003 #***********************************************************
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00009 #*  Redistribution and use in source and binary forms, with or without
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00023 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 #***********************************************************
00036 
00037 # Author: Blaise Gassend
00038 
00039 # Publish information needed to interpret fingertep pressure sensor data:
00040 # - Frame id
00041 # - 
00042 
00043 import roslib
00044 roslib.load_manifest('fingertip_pressure')
00045 import rospy
00046 
00047 from fingertip_pressure.msg import PressureInfo
00048 from fingertip_pressure.fingertip_geometry import *
00049 
00050 
00051 class pressureInformationPublisher:
00052     def __init__(self, dest, frame0, frame1):
00053         self.info = []
00054         self.info.append(pressureInformation(frame0, 1))
00055         self.info.append(pressureInformation(frame1, -1))
00056         self.publisher = rospy.Publisher(dest, PressureInfo, latch=True)
00057 
00058     def publish(self):
00059         self.publisher.publish(self.info)
00060 
00061     
00062 if __name__ == '__main__':
00063 
00064     #@todo it would be nice to read an xml configuration file to get these parameters.
00065     rospy.init_node('pressure_sensor_info')
00066     
00067     pip1=pressureInformationPublisher('pressure/r_gripper_motor_info', 
00068             'r_gripper_l_finger_tip_link', 'r_gripper_r_finger_tip_link')
00069     pip2=pressureInformationPublisher('pressure/l_gripper_motor_info', 
00070             'l_gripper_l_finger_tip_link', 'l_gripper_r_finger_tip_link')
00071 
00072     pip1.publish()
00073     pip2.publish()
00074     
00075     while not rospy.is_shutdown():
00076         rospy.spin()
00077 


fingertip_pressure
Author(s): Blaise Gassend/blaise@willowgarage.com
autogenerated on Thu Jan 2 2014 11:39:26