本文整理汇总了Python中sensor_msgs.msg.JointState.name[j]方法的典型用法代码示例。如果您正苦于以下问题：Python JointState.name[j]方法的具体用法？Python JointState.name[j]怎么用？Python JointState.name[j]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sensor_msgs.msg.JointState的用法示例。
在下文中一共展示了JointState.name[j]方法的2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: execute
# 需要导入模块: from sensor_msgs.msg import JointState [as 别名]
# 或者: from sensor_msgs.msg.JointState import name[j] [as 别名]
def execute(self, goal):
pickle.dump(goal, open("trajecoryGoalMsgVrep.data", "wb"))
joint_names = goal.trajectory.joint_names
trajectory_points = goal.trajectory.points
num_points = len(trajectory_points)
rospy.loginfo("Received %i trajectory points" % num_points)
pprint(goal.trajectory)
end_time = trajectory_points[-1].time_from_start.to_sec()
control_rate = rospy.Rate(self._control_rate)
i=num_points
rospy.loginfo("the num of point is %i" % i )
#self.jointTrajectoryPublisher.publish(goal.trajectory)
for trajectory_point in trajectory_points:
#Publish for vrepp
jsVrep = JointState()
jsVrep.name = copy.deepcopy(joint_names)
jsVrep.position = trajectory_point.positions
for j in range(len(joint_names)):
jsVrep.name[j] = self.vrep_joint_names[joint_names[j]]
vrep_joint_index = int(jsVrep.name[j][-1]) - 1
print vrep_joint_index
if vrep_joint_index == 4:
self.jointStatePublisherForVrep[vrep_joint_index].publish((-1*jsVrep.position[j]) + self.vrep_position_offset[vrep_joint_index])
else:
self.jointStatePublisherForVrep[vrep_joint_index].publish(jsVrep.position[j] + self.vrep_position_offset[vrep_joint_index])
#Publisher for real robot
js = JointState()
#rospy.loginfo("the length of js.name is %i" %len(js.name))
js.name=copy.deepcopy(joint_names)
for j in range(len(joint_names)):
#rospy.loginfo("j is %i" % j)
js.name[j] = js.name[j]+'_'+str(i)
i=i-1
js.position = trajectory_point.positions
self.jointStatePublisher.publish(js)
control_rate.sleep()
start_time = rospy.get_time()
now_from_start = rospy.get_time() - start_time
last_idx = -1
self._result.error_code = self._result.SUCCESSFUL
self.server.set_succeeded(self._result)
rospy.sleep(5)
self.execution.publish("OK")示例2: execute
# 需要导入模块: from sensor_msgs.msg import JointState [as 别名]
# 或者: from sensor_msgs.msg.JointState import name[j] [as 别名]
def execute(self, goal):
#pickle.dump(goal, open("trajecoryGoalMsg3.data", "wb"))
joint_names = goal.trajectory.joint_names
trajectory_points = goal.trajectory.points
num_points = len(trajectory_points)
rospy.loginfo("Received %i trajectory points" % num_points)
pprint(goal.trajectory)
end_time = trajectory_points[-1].time_from_start.to_sec()
control_rate = rospy.Rate(self._control_rate)
i=num_points
rospy.loginfo("the num of point is %i" % i )
self.jointTrajectoryPublisher.publish(goal.trajectory)
for trajectory_point in trajectory_points:
js = JointState()
#rospy.loginfo("the length of js.name is %i" %len(js.name))
js.name=copy.deepcopy(joint_names)
for j in range(len(joint_names)):
#rospy.loginfo("j is %i" % j)
js.name[j] = js.name[j]+'_'+str(i)
i=i-1
#js.position = trajectory_point.positions
#js.velocity=trajectory_point.velocities
#self.jointStatePublisher.publish(js)
control_rate.sleep()
start_time = rospy.get_time()
now_from_start = rospy.get_time() - start_time
last_idx = -1
self._result.error_code = self._result.SUCCESSFUL
self.server.set_succeeded(self._result)