scripts/test_arm_pos.sh

   1 #!/bin/bash
   2
   3 HOME_POS="[0.0, -2.0417, 1.3823, 0.60737]"
   4 CAM_AFT_POS="[-3.1415, 0.5236, 1.2217, -1.7453]"
   5
   6 POS=$HOME_POS
   7 if [ "$1" == "cam_aft" ]; then
   8         POS=$CAM_AFT_POS
   9 fi
  10
  11 rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory "header:
  12   seq: 0
  13   stamp:
  14     secs: 0
  15     nsecs: 0
  16   frame_id: ''
  17 joint_names: ['joint1', 'joint2', 'joint3', 'joint4']
  18 points:
  19   -
  20     positions: $POS
  21     velocities: []
  22     accelerations: []
  23     effort: []
  24     time_from_start:
  25       secs: 5
  26       nsecs: 0" --once