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45 lines
No EOL
1.2 KiB
Python
45 lines
No EOL
1.2 KiB
Python
#!/usr/bin/env python
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import rospy
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from sensor_msgs.msg import JointState
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import time, random, subprocess,rospy
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from pymycobot.mycobot import MyCobot
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from pymycobot.genre import Angle, Coord
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from pymycobot.myarmc import MyArmC
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def get_joint_states():
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# 这个函数应该返回机械臂的实时关节状态
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# 这里只是一个示例，你需要根据你的实际情况来实现这个函数
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return [random.uniform(-180, 180) for _ in range(7)]
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def talker():
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# 初始化节点
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rospy.init_node('joint_state_publisher')
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# 创建发布器，发布到'joint_states'话题，消息类型为JointState
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pub = rospy.Publisher('/joint_states', JointState, queue_size=10)
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# 设置发布频率
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rate = rospy.Rate(10)
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while not rospy.is_shutdown():
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# 创建JointState消息对象
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msg = JointState()
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# 获取机械臂的实时关节状态
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joint_states = get_joint_states()
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# 将关节状态赋值给消息对象
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msg.position = joint_states
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# 发布消息
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pub.publish(msg)
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# 按照设定的频率延时
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rate.sleep()
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if __name__ == '__main__':
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try:
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talker()
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except rospy.ROSInterruptException:
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pass |