![]() | 1 | initial version |
I got it to work using this code:
# -*- coding: utf-8 -*-
"""
Created on Mon Nov 24 19:23:30 2014
@author: morten
"""
import pygazebo
import pygazebo.msg.joint_cmd_pb2
import trollius
from trollius import From
#import pygazebo
#import pygazebo.msg.joint_cmd_pb2
@trollius.coroutine
def publish_loop():
manager = yield From(pygazebo.connect())
publisher = yield From(
manager.advertise('/gazebo/default/my_robot/joint_cmd',
'gazebo.msgs.JointCmd'))
message = pygazebo.msg.joint_cmd_pb2.JointCmd()
message.name = 'my_robot::left_wheel_hinge'
message.axis = 0
message.force = 1.0
while True:
yield From(publisher.publish(message))
yield From(trollius.sleep(1.0))
loop = trollius.get_event_loop()
loop.run_until_complete(publish_loop())