Source code for morse.middleware.ros.jido_posture

from sensor_msgs.msg import JointState
from morse.middleware.ros import ROSPublisher

[docs]class JointStatePublisher(ROSPublisher): """ Publish the data of the posture sensor (for Jido). """ ros_class = JointState
[docs] def default(self, ci='unused'): js = JointState() js.header = self.get_ros_header() js.name = [ 'kuka_arm_0_joint', 'kuka_arm_1_joint', 'kuka_arm_2_joint', 'kuka_arm_3_joint', 'kuka_arm_4_joint', 'kuka_arm_5_joint', 'kuka_arm_6_joint', 'head_pan_joint', 'head_tilt_joint' ] js.position = [ self.data['seg0'], self.data['seg1'], self.data['seg2'], self.data['seg3'], self.data['seg4'], self.data['seg5'], self.data['seg6'], self.data['pan'], self.data['tilt'] ] #js.velocity = [1, 1, 1, 1, 1, 1, 1] #js.effort = [50, 50, 50, 50, 50, 50, 50] self.publish(js)