Created
August 31, 2017 07:40
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| #!/usr/bin/env python | |
| import rospy | |
| from sensor_msgs.msg import JointState | |
| def joint_state_publisher(): | |
| rospy.init_node('hand_joint_state_publisher', anonymous=True) | |
| pub = rospy.Publisher('joint_states', JointState, queue_size=1) | |
| joint_list = ['RHAND_JOINT1'] | |
| rospy.loginfo("{} publishes fake joint states of {}".format(rospy.get_name(), joint_list)) | |
| rate = rospy.Rate(3) # 3hz | |
| while not rospy.is_shutdown(): | |
| joint_states = JointState() | |
| joint_states.header.stamp = rospy.Time.now() | |
| joint_states.name = [] | |
| joint_states.position = [] | |
| for joint in joint_list: | |
| joint_states.name.append(joint) | |
| joint_states.position.append(0) | |
| rospy.logdebug(joint_states) | |
| pub.publish(joint_states) | |
| rate.sleep() | |
| if __name__ == '__main__': | |
| try: | |
| joint_state_publisher() | |
| except rospy.ROSInterruptException: | |
| pass |
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