new urdf for arm

[arm_ros_conn.git] / scripts / arm_ros_conn.py

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index ff06cdf8264a28c5c0f749162e01cbf0d91176ab..9ca59f268c147b55cec9168b1b6ef49a448126c7 100755 (executable)
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -2,24 +2,15 @@
 # -*- coding: iso-8859-15 -*-
 
 import rospy
-import tf
-from nav_msgs.msg import Odometry
 
 class ARMRosConn():
        def __init__(self):
                rospy.init_node('arm')
 
-               rospy.Subscriber("odom", Odometry, self.odom_received)
-               self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
-
                rate = rospy.Rate(10)
                while not rospy.is_shutdown():
                        rate.sleep()
 
-       def odom_received(self, msg):
-               pos = (msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z)
-               orientation = (msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w)
-               self.tf_broadcaster.sendTransform(pos, orientation, rospy.Time.now(), "base_link", "odom")
 
 if __name__ == '__main__':
        ARMRosConn()