59 lines
1.8 KiB
Python
59 lines
1.8 KiB
Python
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#!/usr/bin/env python3
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# Copyright (c) 2021 Franka Emika GmbH
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import rclpy
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from rclpy import Parameter
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from rclpy.node import Node
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from sensor_msgs.msg import JointState
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class FakeGripperStatePublisher(Node):
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def __init__(self):
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super().__init__('fake_gripper_state_publisher')
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self.publisher_ = self.create_publisher(JointState, '~/joint_states', 1)
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timer_period = 0.1 # seconds
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self.declare_parameter('joint_names', Parameter.Type.STRING_ARRAY)
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self.joint_names = (
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self.get_parameter('joint_names').get_parameter_value().string_array_value
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)
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assert len(self.joint_names) == 2
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self.timer = self.create_timer(timer_period, self.publish_state)
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def publish_state(self):
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joint_states = JointState()
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joint_states.header.stamp = self.get_clock().now().to_msg()
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joint_states.name = self.joint_names
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joint_states.position = [0.035, 0.035]
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joint_states.velocity = [0.0, 0.0]
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joint_states.effort = [0.0, 0.0]
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self.publisher_.publish(joint_states)
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def main(args=None):
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rclpy.init(args=args)
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state_publisher = FakeGripperStatePublisher()
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rclpy.spin(state_publisher)
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state_publisher.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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