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)