Revision e8e20dfe examples/meka/src/mekajointinterface.cpp
| examples/meka/src/mekajointinterface.cpp | ||
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| 14 | 14 |
//printf("incoming data for joint '%s'\n", name.c_str());
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| 15 | 15 |
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| 16 | 16 |
int id = -1; |
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if (name == "NECK_PAN"){
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if (name == "head_j1"){
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| 18 | 18 |
id = ID_NECK_PAN; |
| 19 |
}else if(name == "NECK_TILT"){
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}else if(name == "head_j0"){
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| 20 | 20 |
id = ID_NECK_TILT; |
| 21 | 21 |
} |
| 22 | 22 |
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| ... | ... | |
| 132 | 132 |
msg.joint_names.push_back("head_j0");
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| 133 | 133 |
msg.joint_names.push_back("head_j1");
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| 134 | 134 |
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trajectory_msgs::JointTrajectoryPoint p[2];
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p[0].positions.push_back(joint_target[ID_NECK_PAN] * M_PI / 180.0);
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p[1].positions.push_back(joint_target[ID_NECK_TILT]* M_PI / 180.0);
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trajectory_msgs::JointTrajectoryPoint p; |
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p.positions.push_back(joint_target[ID_NECK_TILT] * M_PI / 180.0);
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p.positions.push_back(joint_target[ID_NECK_PAN] * M_PI / 180.0);
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| 138 | 138 |
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p[0].time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);
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p[1].time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);
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p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE); |
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p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE); |
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| 141 | 141 |
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msg.points.push_back(p[0]); |
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msg.points.push_back(p[1]); |
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msg.points.push_back(p); |
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| 144 | 143 |
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| 145 | 144 |
target_publisher.publish(msg); |
| 146 | 145 |
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