Source code for morse.middleware.ros.kuka_jointstate_pub
import logging; logger = logging.getLogger("morse." + __name__)
from sensor_msgs.msg import JointState
from morse.middleware.ros import ROSPublisher
[docs]class JointStatePublisher(ROSPublisher):
""" Publishes a JointState topic and set kuka_{1-7} to the position[0-6]. """
ros_class = JointState
[docs] def default(self, ci='unused'):
message = JointState()
message.name = [''] * 7
message.position = [0] * 7
message.velocity = [0] * 7
message.effort = [0] * 7
for i in range(7):
message.name[i] = "arm_%i_joint"%i
message.position[i] = self.data["kuka_%i"%(i+1)]
self.publish(message)