+
+ 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)