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@mgruhler
Created May 27, 2020 12:35
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#!/usr/bin/env python
import rospy
from test.msg import test
import random
_frame_id = "blub"
_traj_id = random.randint(0, 500)
_traj_step = random.randint(0, 500)
_joints_res_eff_cmd = [random.random() for x in xrange(7)]
_joints_pos = [random.random() for x in xrange(7)]
_joints_vel = [random.random() for x in xrange(7)]
_joints_acc = [random.random() for x in xrange(7)]
_wrench_ee = [0, 0, 0]
_twist_ee = [2, 5, 55, 8]
_ee_pos = [random.random() for x in xrange(7)]
_ee_quat = [random.random() for x in xrange(7)]
_joints_eff = [random.random() for x in xrange(7)]
_in_contact = (True if random.randint(0, 500) > 250 else False)
def talker():
pub = rospy.Publisher('test', test, queue_size=10)
rospy.init_node('talker')
rate = rospy.Rate(1000)
test_msg = test()
test_msg.header.frame_id = _frame_id
while not rospy.is_shutdown():
test_msg.joints_eff = _joints_res_eff_cmd
test_msg.joints_pos = _joints_pos
test_msg.joints_vel = _joints_vel
test_msg.joints_acc = _joints_acc
test_msg.wrench_ee = _wrench_ee
test_msg.twist_ee = _twist_ee
test_msg.ee_pos = _ee_pos
test_msg.ee_quat = _ee_quat
test_msg.in_contact = _in_contact
test_msg.joints_eff = _joints_eff
test_msg.header.stamp = rospy.Time.now()
test_msg.traj_step = _traj_step
test_msg.traj_id = _traj_id
pub.publish(test_msg)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
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