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)