write_angles_node.py 文件源码

def execute():

    # define publisher and its topic 
    pub = rospy.Publisher('write_angles',Angles,queue_size = 10)
    rospy.init_node('write_angles_node',anonymous = True)
    rate = rospy.Rate(10)

    # write 4 angles
    if len(sys.argv) == 5:
        s1 = int(sys.argv[1])
        s2 = int(sys.argv[2])
        s3 = int(sys.argv[3])
        s4 = int(sys.argv[4])
        pub.publish(s1,s2,s3,s4)

    else:
        raiseError()

    rate.sleep()

# main function