fake_katana_joint_publisher.py
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00001 #!/usr/bin/env python
00002 import roslib; roslib.load_manifest('katana')
00003 import rospy
00004 from sensor_msgs.msg import JointState
00005 
00006 def fake_katana_joint_publisher():
00007     pub = rospy.Publisher('/joint_states', JointState, queue_size=100)
00008     rospy.init_node('fake_katana_joint_publisher')
00009     while not rospy.is_shutdown():
00010         js = JointState()
00011         js.header.stamp = rospy.Time.now()
00012         js.name = ['katana_motor1_pan_joint', 'katana_motor2_lift_joint', 'katana_motor3_lift_joint', 'katana_motor4_lift_joint', 'katana_motor5_wrist_roll_joint', 'katana_r_finger_joint', 'katana_l_finger_joint']
00013         js.position = [-2.9641690268167444, 2.1288782921967493, -2.1556486321117725, -1.971949347057968, -2.9318804356548496, 0.28921755238530117, 0.28921755238530117]
00014         js.velocity = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
00015         pub.publish(js)
00016         rospy.sleep(0.02)
00017 if __name__ == '__main__':
00018     try:
00019         fake_katana_joint_publisher()
00020     except rospy.ROSInterruptException: pass


katana
Author(s): Martin Günther
autogenerated on Thu Aug 27 2015 13:40:35