ar10_servo_position_node.py 文件源码

def talker():
        pub = rospy.Publisher('servo_positions', Int32, queue_size=10)
        rospy.init_node('talker', anonymous=True)
        rate = rospy.Rate(10) # 1hz


    for joint in range (0, 10): # for all servos ...
        x = hand.get_position(joint) # get servo position
        rospy.loginfo('servo %d = %d ' , joint,x)
        pub.publish(x) # publish servo position



        rate.sleep()