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talos-metapkg-ros-control-sot
Commits
e28b3735
Commit
e28b3735
authored
May 16, 2018
by
Olivier Stasse
Browse files
Makes republish reads /sot_controller/joint_names for the mapping
Install republish through catkin
parent
72718b52
Changes
2
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roscontrol_sot_talos/CMakeLists.txt
View file @
e28b3735
...
...
@@ -65,7 +65,8 @@ foreach(dir config launch)
)
endforeach
()
catkin_install_python
(
PROGRAMS scripts/republish
DESTINATION
${
CATKIN_PACKAGE_BIN_DESTINATION
}
)
#############
## Testing ##
#############
...
...
roscontrol_sot_talos/scripts/republish
View file @
e28b3735
...
...
@@ -10,13 +10,7 @@ pub = rospy.Publisher('/sot/joint_state', JointState, queue_size=10)
seqnb
=
0
aJS
=
JointState
()
jointnames
=
[
'leg_left_1_joint'
,
'leg_left_2_joint'
,
'leg_left_3_joint'
,
'leg_left_4_joint'
,
'leg_left_5_joint'
,
'leg_left_6_joint'
,
'leg_right_1_joint'
,
'leg_right_2_joint'
,
'leg_right_3_joint'
,
'leg_right_4_joint'
,
'leg_right_5_joint'
,
'leg_right_6_joint'
,
'torso_1_joint'
,
'torso_2_joint'
,
'arm_left_1_joint'
,
'arm_left_2_joint'
,
'arm_left_3_joint'
,
'arm_left_4_joint'
,
'arm_left_5_joint'
,
'arm_left_6_joint'
,
'arm_left_7_joint'
,
'gripper_left_joint'
,
'arm_right_1_joint'
,
'arm_right_2_joint'
,
'arm_right_3_joint'
,
'arm_right_4_joint'
,
'arm_right_5_joint'
,
'arm_right_6_joint'
,
'arm_right_7_joint'
,
'gripper_right_joint'
,
'head_1_joint'
,
'head_2_joint'
,
]
jointnames
=
rospy
.
get_param
(
"/sot_controller/joint_names"
)
def
jointreceived
(
jstates
):
global
seqnb
...
...
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