pycram.ros.joint_state_publisher

Module Contents

Classes

JointStatePublisher

Joint state publisher for the robot currently loaded in the World

class pycram.ros.joint_state_publisher.JointStatePublisher(joint_state_topic='/pycram/joint_state', interval=0.1)

Joint state publisher for the robot currently loaded in the World

Robot object is from robot and current joint states are published to the given joint_state_topic as a JointState message.

Parameters:

• joint_state_topic – Topic name to which the joint states should be published

• interval – Interval at which the joint states should be published, in seconds

_publish() → None

Publishes the current joint states of the robot in an infinite loop. The joint states are published as long as the kill_event is not set by _stop_publishing()

_stop_publishing() → None

Sets the kill_event to terminate the publishing thread and joins the thread.