arm_joint_pose.py 文件源码

def __init__(self):
        self.joint_names = ['base_joint', 'shoulder_joint', 'elbow_joint', 'wrist_flex_joint', 'wrist_rot_joint',
                            'finger_joint1', 'finger_joint2']
        # subscriber for setting joints position
        self.states_sub = rospy.Subscriber("/as_arm/set_joints_states", JointState, self.callback,
                                           queue_size=2)
        # a list of publisher
        self.joint_pub = dict()
        self.joint_pose = dict()
        for idx, name in enumerate(self.joint_names):
            pub = rospy.Publisher("/as_arm/joint%d_position_controller/command" % (idx + 1), Float64, queue_size=3)
            self.joint_pub[name] = pub
            self.joint_pose[name] = Float64()