From ab6fa45f124a1a18ca00a467f2ee4bd3c51b12a1 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Mon, 7 May 2018 11:36:08 +0200
Subject: [PATCH] Add republish.py
---
.../scripts/republish.py | 32 +++++++++++++++++++
1 file changed, 32 insertions(+)
create mode 100644 talos_roscontrol_sot_talos/scripts/republish.py
diff --git a/talos_roscontrol_sot_talos/scripts/republish.py b/talos_roscontrol_sot_talos/scripts/republish.py
new file mode 100644
index 0000000..85c5f06
--- /dev/null
+++ b/talos_roscontrol_sot_talos/scripts/republish.py
@@ -0,0 +1,32 @@
+#!/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
+
--
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