Source code for morse.middleware.ros.kuka_jointstate
import logging; logger = logging.getLogger("morse." + __name__)
from sensor_msgs.msg import JointState
from morse.middleware.ros import ROSSubscriber
[docs]class JointStateReader(ROSSubscriber):
""" Subscribe to a JointState topic and set kuka_{1-7} to the position[0-6]. """
ros_class = JointState
[docs] def update(self, message):
logger.debug("Received JointState names: %s on topic %s"%(message.name, self.topic_name))
logger.debug("Received JointState positons: %s on topic %s"%(message.position, self.topic_name))
logger.debug("Received JointState velocity: %s on topic %s"%(message.velocity, self.topic_name))
for i in range(7):
self.data["kuka_%i"%(i+1)] = message.position[i]