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| # Update CMakeLists in ~/catkin_ws/src/unitree_ros/unitree_controller | |
| catkin_install_python(PROGRAMS scripts/joint_mover.py | |
| DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |
| ) | |
| #!/usr/bin/env python | |
| import rospy | |
| from sensor_msgs.msg import JointState | |
| from std_msgs.msg import Header | |
| import math | |
| def mover(): | |
| pub = rospy.Publisher('joint_states', JointState, queue_size=10) | |
| rospy.init_node('joint_state_publisher') | |
| rate = rospy.Rate(10) # 10hz | |
| current = 0 | |
| max = 0.86 | |
| increment = 0.01 | |
| sign = 1 | |
| while not rospy.is_shutdown(): | |
| js = JointState() | |
| js.header = Header() | |
| js.header.stamp = rospy.Time.now() | |
| js.name = ['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'] | |
| FR_hip_position = current + increment * sign | |
| current = FR_hip_position | |
| if (current > max): | |
| sign = -1 | |
| elif (current < max * -1): | |
| sign = 1 | |
| js.position = [FR_hip_position, 0, -1.853, 0, 0, -1.853, 0, 0, -1.853, 0, 0, -1.853] | |
| js.velocity = [] | |
| js.effort = [] | |
| pub.publish(js) | |
| rate.sleep() | |
| if __name__ == '__main__': | |
| try: | |
| mover() | |
| except rospy.ROSInterruptException: | |
| pass |
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