Create Example

Example

@@ -0,0 +1,42 @@
+#!/usr/bin/env python
+
+#remove or add the library/libraries for ROS
+import rospy
+import math
+
+#remove or add the message type
+from std_msgs.msg import String, Float32, Bool, Float32MultiArray
+from sensor_msgs.msg import JointState
+from kinova_msgs.msg import JointVelocity
+
+torque = 0
+#define function/functions to provide the required functionaI needlity
+
+def fnc_callbacktool(msg):
+	global torque
+	torque = msg.effort[0]
+
+if __name__=='__main__':
+	#Add here the name of the ROS. In ROS, names are unique named.
+	rospy.init_node('example')
+	#subscribe to a topic using rospy.Subscriber class
+	subtool=rospy.Subscriber('/j2n6s300_driver/out/joint_state', JointState, fnc_callbacktool)
+	pub=rospy.Publisher('j2n6s300_driver/in/joint_velocity', JointVelocity, queue_size=10)
+	rate=rospy.Rate(100)
+
+	while not rospy.is_shutdown():
+		cmd = JointVelocity()
+
+		if torque > 0.3:
+			cmd.joint6=48
+		elif torque < -0.3:
+			cmd.joint6=-48
+		else:
+			cmd.joint6=0
+		print cmd
+		print torque
+
+		pub.publish(cmd)
+
+		rate.sleep()
+