[Personalrobots-commit] SF.net SVN: personalrobots:[23856] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

[<goo...@us...>]

Revision: 23856
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23856&view=rev
Author:   goodfellow
Date:     2009-09-04 19:54:50 +0000 (Fri, 04 Sep 2009)

Log Message:
-----------
Updated script to use new version of JointState

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-09-04 19:47:26 UTC (rev 23855)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-09-04 19:54:50 UTC (rev 23856)
@@ -39,21 +39,16 @@
 
 import rospy
 from geometry_msgs.msg import PointStamped, Point
-from pr2_mechanism_msgs.msg import JointStates, JointState
+from sensor_msgs.msg import JointState
 
 def point_head_client(pan, tilt):
 
-    head_angles = rospy.Publisher('head_controller/command', JointStates)
+    head_angles = rospy.Publisher('head_controller/command', JointState)
     rospy.init_node('head_commander', anonymous=True)
     sleep(1)
-    ps = JointState()
-    ps.name = 'head_pan_joint'
-    ps.position = pan
-    ts = JointState()
-    ts.name ='head_tilt_joint'
-    ts.position = tilt
-    js = JointStates()
-    js.joints = [ps, ts]
+    js = JointState()
+    js.name = ['head_pan_joint', 'head_tilt_joint'];
+    js.position = [pan,tilt];
     head_angles.publish(js)
     sleep(1)
 


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