Add republish.py

talos_roscontrol_sot_talos/scripts/republish.py

+#!/usr/bin/env python
+# license removed for brevity
+import rospy
+from dynamic_graph_bridge_msgs.msg import Vector
+from sensor_msgs.msg import JointState
+
+rospy.init_node('sot_reemitter', anonymous=True)
+pub = rospy.Publisher('/sot/joint_state', String, queue_size=10)
+    
+aJS = JointState()
+   
+def jointreceived(jstates):
+    aJS.header.seq = seqnb
+    pub.publish(hello_str)
+    seqnb = seqnb+1
+    seqnb.stamp = ros::Time::now()
+    seqnb.frameid = "base_link"
+    seqnb.name = "joint_state"
+    seqnb.position = jstates.data[6:]
+    seqnb.velocity = []
+    seqnb.effort = []
+
+def listener():
+    rospy.Subscriber("/sot_hpp/state", Vector, jointreceived)
+    ros.spin()
+    
+if __name__ == '__main__':
+    try:
+        listener()
+    except rospy.ROSInterruptException:
+        pass
+