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In the callback

current_position = data.current_pos

should do the trick. Also note, that this:

rospy.Subscriber("/joint6_controller/state", current_pos, callback)

should be this:

rospy.Subscriber("/joint6_controller/state", JointState, callback)

The dynamixel controller Joint State message documentation is here. If you want to access any other member, just call "data.<member name="">".

Hope this helps.

In the callback

current_position = data.current_pos

should do the trick. Also note, that this:

rospy.Subscriber("/joint6_controller/state", current_pos, callback)

should be this:

rospy.Subscriber("/joint6_controller/state", JointState, callback)

The dynamixel controller Joint State message documentation is here. If you want to access any other member, just call "data.<member name="">"."data.[member name goes here]".

Hope this helps.