test.py 文件源码

python
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项目:human_moveit_config 作者: baxter-flowers 项目源码 文件源码
def compute_fk_client(self, group, joint_values, links):
        rospy.wait_for_service('compute_fk')
        try:
            compute_fk = rospy.ServiceProxy('compute_fk', GetPositionFK)
            header = Header()
            header.stamp = rospy.Time.now()
            header.frame_id = group.get_pose_reference_frame()

            rs = RobotState()
            rs.joint_state.header = header
            rs.joint_state.name = group.get_active_joints()
            rs.joint_state.position = joint_values

            res = compute_fk(header, links, rs)

            return res.pose_stamped
        except rospy.ServiceException, e:
            print "Service call failed: %s" % e
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