Source code for morse.middleware.ros.ptu_posture
from sensor_msgs.msg import JointState
from morse.middleware.ros import ROSPublisher
[docs]class JointStatePublisher(ROSPublisher):
""" Publish the data of the posture sensor as a ROS JointState message """
ros_class = JointState
[docs] def default(self, ci='unused'):
js = JointState()
js.header = self.get_ros_header()
js.name = ['head_pan_joint', 'head_tilt_joint']
js.position = [
self.data['pan'],
self.data['tilt']
]
self.publish(js)