ros utility for follow_joint_trajectory
This is client for follow_joint_trajectory action. You can use it very easily from Python.
#!/usr/bin/env python
import rospy
from ez_utils.msg import TargetJoints
from ez_utils.ez_joints import JointsServer
if __name__ == '__main__':
rospy.init_node('pr2_joints')
head = JointsServer('/head_traj_controller')
left_arm = JointsServer('/l_arm_controller')
right_arm = JointsServer('/r_arm_controller')
rospy.spin()
This program starts subscriber like below.
- /head_traj_controller/follow_position (uz_utils/TargetJoints)
uz_utils/TargetJoints
is just an array of float64. You can move joints very easily.
You can use the server object directory if you want to omit publisher.
head.set_positions([0.5, 0.1])