Obbart/universal_robots_ros_driver
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Updated launch files to evaluate a 'prefix' argument and pass it to the driver and urdf file. Fixes #28

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Thomas Timm Andersen
2016-02-19 14:16:49 +01:00
parent c05f16c8e9
commit 0b9bf8b549
8 changed files with 25 additions and 7 deletions
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6
test_move.py
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@@ -111,6 +111,12 @@ def main():
client.wait_for_server()
print "Connected to server"
rospy.Subscriber("joint_states", JointState, joint_subscriber)
parameters = rospy.get_param(None)
index = str(parameters).find('prefix')
if (index > 0):
prefix = str(parameters)[index+len("prefix': '"):(index+len("prefix': '")+str(parameters)[index+len("prefix': '"):-1].find("'"))]
for i, name in enumerate(JOINT_NAMES):
JOINT_NAMES[i] = prefix + name
print "This program makes the robot move between the following three poses:"
print str([Q1[i]*180./pi for i in xrange(0,6)])
print str([Q2[i]*180./pi for i in xrange(0,6)])