Obbart/universal_robots_ros_driver
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Changed time base for ros_control. Fixes #44

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Thomas Timm Andersen
2016-05-03 10:11:01 +02:00
parent c93d9dd543
commit 5b22e46450
2 changed files with 13 additions and 10 deletions
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9
test_move.py
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@@ -102,8 +102,15 @@ def move_interrupt():
JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
client.send_goal(g)
time.sleep(2.0)
time.sleep(3.0)
print "Interrupting"
joint_states = rospy.wait_for_message("joint_states", JointState)
joints_pos = joint_states.position
g.trajectory.points = [
JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0)),
JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
client.send_goal(g)
client.wait_for_result()
except KeyboardInterrupt: