Hello everybody,
I would like to get some help from you. I want to use a Dynamixel servo but I do not want to have many different files just for listening the positions and setting new goals, so I created the following Python node:
#!/usr/bin/env python
import rospy
from math import fabs
from dynamixel_msgs.msg import JointState
from std_msgs.msg import Float64
goal_pos = 0;
pub = rospy.Publisher('/tilt_controller/command', Float64)
def transform_callback(data):
global goal_pos
rospy.loginfo(rospy.get_name() + ': Current motor angle {0}'.format(data.current_pos))
# If the motor has reached its limit, publish a new command.
if fabs(goal_pos-data.current_pos) < 0.01:
if goal_pos == 0:
goal_pos = 3.141592
else:
goal_pos = 0
str = "Time: {0} Moving motor to {1}" .format(rospy.get_time(), goal_pos)
rospy.loginfo(str)
pub.publish(Float64(goal_pos))
def dxl_control():
rospy.init_node('dxl_control', anonymous=True)
rospy.Subscriber('/tilt_controller/state', JointState, transform_callback).
# Initial movement.
pub.publish(Float64(goal_pos))
rospy.spin()
if __name__ == '__main__':
try:
dxl_control()
except rospy.ROSInterruptException:
pass
The code is just a union of the simple publisher and listener tutorials adapted to my application. As I do not have too much experiences programming with ROS (neither Python) I would like to know what do you think about having the publisher and the goal_pos as global variables and also the publisher and the listener in the same node and file.
The plan is that transform_callback will also publish a tf message. Is it ok as it is or would you do it in separate files and nodes?
Thank you!
Originally posted by Javier V. Gómez on ROS Answers with karma: 1305 on 2013-12-05
Post score: 5