publish joint messages, added gripper 35978

[arm_ros_conn.git] / scripts / arm_ros_conn.py

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index 9bfe92da845ef12b097d61918c1f443b2e661ea5..c4ab470bf71d21b4f110f36adba824f1b3db4fca 100755 (executable)
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -2,24 +2,36 @@
 # -*- coding: iso-8859-15 -*-
 
 import rospy
-import tf
-from nav_msgs.msg import Odometry
+import arm
+from sensor_msgs.msg import JointState
 
 class ARMRosConn():
        def __init__(self):
                rospy.init_node('arm')
 
-               rospy.Subscriber("odom", Odometry, self.odom_received)
-               self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+               arm.switch(0)
+               arm.switch(2)
+               arm.set_hall_mode(3, 0)
+               arm.set_hall_mode(5, 0)
+               arm.set_tolerance(3, 0)
+               arm.set_tolerance(5, 0)
 
-               rate = rospy.Rate(10)
+               self.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16)
+               self.run()
+
+       def run(self):
+               rate = rospy.Rate(20)
                while not rospy.is_shutdown():
+                       self.publish_joint_states()
                        rate.sleep()
+       
+       def publish_joint_states(self):
+               joint_state = JointState()
+               joint_state.header.stamp = rospy.Time.now()
+               joint_state.name = ["base_to_link1", "link_1_2_joint", "link_2_3_joint", "gripper_joint_1", "gripper_joint_2", "left_gripper_joint", "right_gripper_joint"]
+               joint_state.position = [arm.get_angle(0), arm.get_angle(1), arm.get_angle(2), arm.get_angle(3), arm.get_angle(4), arm.get_angle(5)/2, arm.get_angle(5)/2]
+               self.pub_joint_states.publish(joint_state)
 
-       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, msg.header.stamp, "base_link", "odom")
 
 if __name__ == '__main__':
        ARMRosConn()