#!/usr/bin/env python
# -*- coding: utf-8 -*-

# @Author: qfyhaha
# @Date:   2016-11-17 16:33:06
# @Last Modified by:   qfyhaha
# @Last Modified time: 2017-01-10 11:00:23
# @Description: publish joint point to each joint

import rospy
from qfy_dynamixel.msg import multi_joint_point

def pub_data():
    pub = rospy.Publisher('joint_goal_point',multi_joint_point, queue_size=10)
    rospy.init_node('pub_jointpoint',anonymous=True)

    pub_mjp = multi_joint_point()
    pub_mjp.header.stamp = rospy.Time.now()
    pub_mjp.id = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', 'joint_7']

    pub_mjp.data = [1.57, 1.0, 0.5, 0.0, 0.4, 0.0, 0.0] #origin
    #pub_mjp.data = [1.65, -0.39, 0.38, 0.0, -0.8, 0.0, 0.0]

    rate = rospy.Rate(50)
    while not rospy.is_shutdown():
        pub_mjp.header.stamp = rospy.Time.now()
        pub.publish(pub_mjp)
        rate.sleep()


if __name__ == '__main__':
    try:
        pub_data()
    except rospy.ROSInterruptException:
        pass

25d52bfff2016e29de088347c39e0390a747436e
<mask token>

<mask token>


def pub_data():
    pub = rospy.Publisher('joint_goal_point', multi_joint_point, queue_size=10)
    rospy.init_node('pub_jointpoint', anonymous=True)
    pub_mjp = multi_joint_point()
    pub_mjp.header.stamp = rospy.Time.now()
    pub_mjp.id = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5',
        'joint_6', 'joint_7']
    pub_mjp.data = [1.57, 1.0, 0.5, 0.0, 0.4, 0.0, 0.0]
    rate = rospy.Rate(50)
    while not rospy.is_shutdown():
        pub_mjp.header.stamp = rospy.Time.now()
        pub.publish(pub_mjp)
        rate.sleep()


<mask token>

<mask token>


def pub_data():
    pub = rospy.Publisher('joint_goal_point', multi_joint_point, queue_size=10)
    rospy.init_node('pub_jointpoint', anonymous=True)
    pub_mjp = multi_joint_point()
    pub_mjp.header.stamp = rospy.Time.now()
    pub_mjp.id = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5',
        'joint_6', 'joint_7']
    pub_mjp.data = [1.57, 1.0, 0.5, 0.0, 0.4, 0.0, 0.0]
    rate = rospy.Rate(50)
    while not rospy.is_shutdown():
        pub_mjp.header.stamp = rospy.Time.now()
        pub.publish(pub_mjp)
        rate.sleep()


if __name__ == '__main__':
    try:
        pub_data()
    except rospy.ROSInterruptException:
        pass

import rospy
from qfy_dynamixel.msg import multi_joint_point


def pub_data():
    pub = rospy.Publisher('joint_goal_point', multi_joint_point, queue_size=10)
    rospy.init_node('pub_jointpoint', anonymous=True)
    pub_mjp = multi_joint_point()
    pub_mjp.header.stamp = rospy.Time.now()
    pub_mjp.id = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5',
        'joint_6', 'joint_7']
    pub_mjp.data = [1.57, 1.0, 0.5, 0.0, 0.4, 0.0, 0.0]
    rate = rospy.Rate(50)
    while not rospy.is_shutdown():
        pub_mjp.header.stamp = rospy.Time.now()
        pub.publish(pub_mjp)
        rate.sleep()


if __name__ == '__main__':
    try:
        pub_data()
    except rospy.ROSInterruptException:
        pass

#!/usr/bin/env python
# -*- coding: utf-8 -*-

# @Author: qfyhaha
# @Date:   2016-11-17 16:33:06
# @Last Modified by:   qfyhaha
# @Last Modified time: 2017-01-10 11:00:23
# @Description: publish joint point to each joint

import rospy
from qfy_dynamixel.msg import multi_joint_point

def pub_data():
    pub = rospy.Publisher('joint_goal_point',multi_joint_point, queue_size=10)
    rospy.init_node('pub_jointpoint',anonymous=True)

    pub_mjp = multi_joint_point()
    pub_mjp.header.stamp = rospy.Time.now()
    pub_mjp.id = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', 'joint_7']

    pub_mjp.data = [1.57, 1.0, 0.5, 0.0, 0.4, 0.0, 0.0] #origin
    #pub_mjp.data = [1.65, -0.39, 0.38, 0.0, -0.8, 0.0, 0.0]

    rate = rospy.Rate(50)
    while not rospy.is_shutdown():
        pub_mjp.header.stamp = rospy.Time.now()
        pub.publish(pub_mjp)
        rate.sleep()


if __name__ == '__main__':
    try:
        pub_data()
    except rospy.ROSInterruptException:
        pass
