Source code for morse.middleware.ros.velocity
import logging; logger = logging.getLogger("morse." + __name__)
from geometry_msgs.msg import TwistStamped
from morse.middleware.ros import ROSPublisher
[docs]class TwistStampedPublisher(ROSPublisher):
""" Publish the twist of the robot. """
ros_class = TwistStamped
default_frame_id = '/base_link'
[docs] def default(self, ci='unused'):
twist = TwistStamped()
twist.header = self.get_ros_header()
twist.twist.linear.x = self.data['linear_velocity'][0]
twist.twist.linear.y = self.data['linear_velocity'][1]
twist.twist.linear.z = self.data['linear_velocity'][2]
twist.twist.angular.x = self.data['angular_velocity'][0]
twist.twist.angular.y = self.data['angular_velocity'][1]
twist.twist.angular.z = self.data['angular_velocity'][2]
self.publish(twist)