本文整理汇总了Python中hrl_geom.pose_converter.PoseConv.to_twist_stamped_msg方法的典型用法代码示例。如果您正苦于以下问题：Python PoseConv.to_twist_stamped_msg方法的具体用法？Python PoseConv.to_twist_stamped_msg怎么用？Python PoseConv.to_twist_stamped_msg使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类hrl_geom.pose_converter.PoseConv的用法示例。
在下文中一共展示了PoseConv.to_twist_stamped_msg方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: main
# 需要导入模块: from hrl_geom.pose_converter import PoseConv [as 别名]
# 或者: from hrl_geom.pose_converter.PoseConv import to_twist_stamped_msg [as 别名]
def main():
rospy.init_node("cartesian_manager")
arm_char = sys.argv[1]
assert arm_char in ['r', 'l']
cart_man = CartesianControllerManager(arm_char)
if False:
cart_man.enable_controller(
end_link="%s_gripper_tool_frame" % arm_char,
ctrl_name="%s_cart_jt_task_tool" % arm_char,
ctrl_params="$(find hrl_face_adls)/params/%s_jt_task_tool.yaml" % arm_char,
frame_rot=FLIP_PERSPECTIVE_ROT)
rospy.sleep(1)
#t = PoseConv.to_twist_stamped_msg("l_gripper_tool_frame", (-0.15, 0, 0), (0, 0, 0))
#t = PoseConv.to_twist_stamped_msg("torso_lift_link", (0, 0, 0), (-np.pi/6, 0, 0))
t = PoseConv.to_twist_stamped_msg("torso_lift_link", (0, 0.1, 0), (0, 0, 0))
cart_man.command_move_cb(t)
return
rospy.spin()