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- #!/usr/bin/env python
- import rospy
- from sensor_msgs.msg import JointState
- rospy.init_node("fake_pub")
- p = rospy.Publisher('joint_states', JointState, queue_size=5)
- msg = JointState()
- msg.name = ["front_castor_joint", "left_wheel_joint", "rear_castor_joint", "right_wheel_joint"]
- msg.position = [0.0 for name in msg.name]
- msg.velocity = [0.0 for name in msg.name]
- while not rospy.is_shutdown():
- msg.header.stamp = rospy.Time.now()
- p.publish(msg)
- rospy.sleep(0.1)
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