code/realworld/demo_realworld_get_topic.ipynb

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 "cells": [
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Set `UR5` Robot"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Done.\n"
     ]
    }
   ],
   "source": [
    "import time\n",
    "import rospy\n",
    "from sensor_msgs.msg import JointState\n",
    "print(\"Done.\")\n"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### You should run this line ahead.\n",
    "`roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.0.100`  in terminal."
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Define `UR` Class"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "class UR_Test():\n",
    "    def __init__(self):\n",
    "        self.tick = 0\n",
    "        self.joint_list = None \n",
    "        self.joint_sub = rospy.Subscriber('/joint_states', JointState, self.joint_callback)\n",
    "\n",
    "        tic_temp=0 \n",
    "\n",
    "        while self.tick<2: \n",
    "            time.sleep(1e-3)\n",
    "            tic_temp=tic_temp+1\n",
    "\n",
    "            if tic_temp>5000: \n",
    "                print (\"[ERROR] GET JOINTS\")\n",
    "                break \n",
    "            \n",
    "    def joint_callback(self, joint_msg):\n",
    "        \"\"\"\n",
    "            Get joint values about each joint.\n",
    "        \"\"\"\n",
    "        self.tick+=1 \n",
    "        self.joint_list = joint_msg "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(-1.5721171537982386, -2.317308088342184, 2.1395910421954554, 1.7379554945179443, 0.7919442653656006, -1.5676639715777796)\n"
     ]
    }
   ],
   "source": [
    "rospy.init_node('test')\n",
    "ur_test = UR_Test()\n",
    "\n",
    "print(ur_test.joint_list.position)\n",
    "joint_value = ur_test.joint_list.position"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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