/arm_right_controller/safe_command#
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/arm_right_controller/safe_command Quick Facts
- Category
- Message type
- 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()
Publish to the topic using C++#
1#include <ros/ros.h>
2#include <trajectory_msgs/JointTrajectory.h>
3
4int main(int argc, char **argv)
5{
6 ros::init(argc, argv, "publisher");
7 ros::NodeHandle n;
8
9 ros::Publisher pub = n.advertise<trajectory_msgs::JointTrajectory>("/arm_right_controller/safe_command", 10);
10
11 ros::Rate loop_rate(10); // 10Hz
12
13 while (ros::ok())
14 {
15 trajectory_msgs::JointTrajectory msg;
16 // check http://docs.ros.org/en/api/trajectory_msgs/html/msg/JointTrajectory.html
17 // for the msg structure
18 // msg.data = ...
19 pub.publish(msg);
20
21 ros::spinOnce();
22 loop_rate.sleep();
23 }
24 return 0;
25}
You can also access this topic from a webpage displayed on the robot’s touchscreen via this endpoint:
http://<robot>-0c/topic/arm_right_controller
(replace <robot>-0c by the serial number of your own robot).
See REST interface for the general documentation of the REST endpoints and code samples.