torso_down.py
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00001 #! /usr/bin/python
00002 import roslib
00003 roslib.load_manifest('pr2_position_scripts')
00004 
00005 import rospy
00006 import actionlib
00007 from trajectory_msgs.msg import *
00008 
00009 
00010 
00011 torso_pub= rospy.Publisher('torso_controller/command', JointTrajectory)
00012 rospy.init_node('torso_up')
00013 
00014 while not rospy.is_shutdown():
00015     traj = JointTrajectory()
00016     traj.header.stamp = rospy.get_rostime()
00017     traj.joint_names.append("torso_lift_joint");
00018     traj.points.append(JointTrajectoryPoint())
00019     traj.points[0].positions.append(0.0)
00020     traj.points[0].velocities.append(0.1)
00021     traj.points[0].time_from_start = rospy.Duration(0.25)
00022     torso_pub.publish(traj)
00023     rospy.sleep(rospy.Duration.from_sec(0.2))
00024 


pr2_position_scripts
Author(s): Tony Pratkanis
autogenerated on Fri Dec 6 2013 22:07:02