本文整理汇总了Python中sensor_msgs.msg.JointState.position[index[k]]方法的典型用法代码示例。如果您正苦于以下问题：Python JointState.position[index[k]]方法的具体用法？Python JointState.position[index[k]]怎么用？Python JointState.position[index[k]]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.position[index[k]]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: talker
# 需要导入模块: from sensor_msgs.msg import JointState [as 别名]
# 或者: from sensor_msgs.msg.JointState import position[index[k]] [as 别名]
def talker():
global joy_value
global last_joy
global joint_state
rospy.init_node('vsv_arm_teleop_raw')
sub = rospy.Subscriber('~joy', Joy, joy_cb)
jsub = rospy.Subscriber('~joint_state', JointState, joint_cb)
joint = rospy.Publisher('~joint_command', JointState)
axis={}
axis["ArmPan"] = [int(s) for s in str(rospy.get_param("~axis_pan","6")).split(",")]
axis["ArmTilt"] = [int(s) for s in str(rospy.get_param("~axis_tilt","7")).split(",")]
axis["ArmFold"] = [int(s) for s in str(rospy.get_param("~axis_fold","4,5")).split(",")]
axis["ArmExtend"] = [int(s) for s in str(rospy.get_param("~axis_extend","0,3")).split(",")]
axis["ToolRotate"] = [int(s) for s in str(rospy.get_param("~axis_rotate","2,1")).split(",")]
step_value = {"ArmPan":1*pi/180., "ArmTilt":5*pi/180.,
"ArmFold":2*pi/180., "ArmExtend":0.05, "ToolRotate":5*pi/180.}
timeout = True
rate = rospy.Rate(10)
while not rospy.is_shutdown() and not joint_state:
rate.sleep()
if rospy.is_shutdown():
return
command = JointState()
command.header = joint_state.header
command.name = joint_state.name
command.velocity = [0.0] * len(joint_state.name)
command.effort = [0.0] * len(joint_state.name)
command.position = [x for x in joint_state.position]
index = dict(zip(command.name,range(0,len(command.name))))
while not rospy.is_shutdown():
if (rospy.rostime.get_time() - last_joy) < 0.5:
if timeout:
timeout = False
rospy.loginfo("Accepting joystick commands")
for k in axis.keys():
if len(axis[k])==1:
# Axis
command.position[index[k]] = sat(command.position[index[k]]+joy_value.axes[axis[k][0]]*step_value[k],
joint_state.position[index[k]],step_value[k])
else:
# Buttons
if joy_value.buttons[axis[k][0]]:
command.position[index[k]] = sat(command.position[index[k]]-step_value[k],
joint_state.position[index[k]],step_value[k])
elif joy_value.buttons[axis[k][1]]:
command.position[index[k]] = sat(command.position[index[k]]+step_value[k],
joint_state.position[index[k]],step_value[k])
# if twist.linear.x < 0:
# twist.angular.z = - twist.angular.z
else:
if not timeout:
timeout = True
rospy.loginfo("Timeout: ignoring joystick commands")
joint.publish(command)
rate.sleep()