From: Erik Andresen <erik@vontaene.de>
Date: Sat, 14 Nov 2020 17:53:49 +0000 (+0100)
Subject: added simple rostopic pub script for manipulator positioning
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=101627ec7f08aa397f6e9856898ebe4bd3199cf2;p=wt_open_manipulator.git

added simple rostopic pub script for manipulator positioning
---

diff --git a/scripts/test_arm_pos.sh b/scripts/test_arm_pos.sh
new file mode 100755
index 0000000..f43cc67
--- /dev/null
+++ b/scripts/test_arm_pos.sh
@@ -0,0 +1,26 @@
+#!/bin/bash
+
+HOME_POS="[0.0, -2.0417, 1.3823, 0.60737]"
+CAM_AFT_POS="[-3.1415, 0.5236, 1.2217, -1.7453]"
+
+POS=$HOME_POS
+if [ "$1" == "cam_aft" ]; then
+	POS=$CAM_AFT_POS
+fi
+
+rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory "header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: ''
+joint_names: ['joint1', 'joint2', 'joint3', 'joint4']
+points:
+  -
+    positions: $POS
+    velocities: []
+    accelerations: []
+    effort: []
+    time_from_start:
+      secs: 5
+      nsecs: 0" --once