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talos-metapkg-ros-control-sot
Commits
a7e2fedf
Commit
a7e2fedf
authored
Jul 04, 2018
by
Joseph Mirabel
Committed by
Joseph Mirabel
Jul 04, 2018
Browse files
Improve republish
parent
cd962bb5
Changes
1
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Inline
Side-by-side
roscontrol_sot_talos/scripts/republish
View file @
a7e2fedf
...
...
@@ -5,17 +5,18 @@ from dynamic_graph_bridge_msgs.msg import Vector
from
sensor_msgs.msg
import
JointState
import
sys
# Arg 1
input_topic
=
"/sot_hpp/state"
# Arg 2
output_topic
=
"/sot/joint_state"
# Arg 3
publish_root_wrt_odom
=
False
if
len
(
sys
.
argv
)
>
1
:
input_topic
=
sys
.
argv
[
1
]
if
len
(
sys
.
argv
)
>
2
:
output_topic
=
sys
.
argv
[
2
]
else
:
output_topic
=
"/sot/joint_state"
if
len
(
sys
.
argv
)
>
3
:
publish_root_wrt_odom
=
(
sys
.
argv
[
3
].
lower
()
in
(
"true"
,
"on"
))
else
:
input_topic
=
"/sot_hpp/state"
if
len
(
sys
.
argv
)
>
3
:
publish_root_wrt_odom
=
(
sys
.
argv
[
3
].
lower
()
in
(
"true"
,
"on"
))
rospy
.
init_node
(
'sot_reemitter'
,
anonymous
=
True
)
pub
=
rospy
.
Publisher
(
output_topic
,
JointState
,
queue_size
=
10
)
...
...
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