/arm_right_controller/safe_command#

Caution

This documentation page has been auto-generated.

It may be missing some details.

/arm_right_controller/safe_command Quick Facts

Category

Gestures and motions

Message type

trajectory_msgs/JointTrajectory

Direction

⬅️ you normally publish to this topic.

Quick snippets#

Publish data on the topic#
$ rostopic pub /arm_right_controller/safe_command trajectory_msgs/JointTrajectory # press Tab twice to complete

How to use in your code#

Publish to the topic using Python#
 1import rospy
 2from trajectory_msgs.msg import JointTrajectory
 3
 4if __name__ == "__main__":
 5    rospy.init_node("publisher")
 6
 7    pub = rospy.Publisher("/arm_right_controller/safe_command", JointTrajectory, queue_size=10)
 8    rate = rospy.Rate(10) # 10Hz
 9    msg = JointTrajectory()
10
11    while not rospy.is_shutdown():
12
13        # check http://docs.ros.org/en/api/trajectory_msgs/html/msg/JointTrajectory.html
14        # for the msg structure
15        # msg.data = ...
16        pub.publish(msg)
17
18        rate.sleep()