去创作
#!/usr/bin/env python """ author: zhouxin, inksci@qq.com with speedj(): rostopic pub /ur_driver/URScript std_msgs/String -r 125 -- 'speedj([0, 0, 0, 0, 0, 0.5], *acc: double, t: 0.008 )' Move the robot randomly. """ from multiprocessing import Process, Queue import os, time, random import rospy from std_msgs.msg import String from trajectory_msgs.msg import JointTrajectory from trajectory_msgs.msg import JointTrajectoryPoint import threading import time import numpy as np action_ampl = 0.2 # rad/s^2 mutex = threading.Lock() qvel_global = [0, ... ...
UR-ROS
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