joint_velocity_wobbler.py 文件源码

def main():
    """Intera RSDK Joint Velocity Example: Wobbler

    Commands joint velocities of randomly parameterized cosine waves
    to each joint. Demonstrates Joint Velocity Control Mode.
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)
    parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("rsdk_joint_velocity_wobbler")

    wobbler = Wobbler()
    rospy.on_shutdown(wobbler.clean_shutdown)
    wobbler.wobble()

    print("Done.")