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Found 1 result

  1. lr101095

    sawyer inverse kinematics

    trying to write a program that subscribes to the endpoint states of sawyer through rostopics. i've opted to subscribe to each individual endpoint_state value. my program is based around ik_service_client, hence why i decided to subscribe to the individual values. I have the following: sub_p1 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/x", String) sub_p2 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/y", String) sub_p3 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/z", String) sub_q1 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/x", String) sub_q2 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/y", String) sub_q3 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/z", String) sub_q0 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/w", String) poses = {'right': PoseStamped( header = hdr, pose = Pose( position = Point( x = sub_p1, y = sub_p2, z = sub_p3, ), orientation = Quaternion( x = sub_q1, y = sub_q2, z = sub_q3, w = sub_q0, ), ), ), } However, as a test, i print "poses" and i get the following output: pose: position: x: <rospy.topics.Subscriber object at 0x7fe9f9c31c50> y: <rospy.topics.Subscriber object at 0x7fe9f9c31d50> z: <rospy.topics.Subscriber object at 0x7fe9f9c31d90> orientation: x: <rospy.topics.Subscriber object at 0x7fe9f9bd7050> y: <rospy.topics.Subscriber object at 0x7fe9f9c31e10> z: <rospy.topics.Subscriber object at 0x7fe9f9bd7710> w: <rospy.topics.Subscriber object at 0x7fe9f9bd79d0>} How am i able to print/access the actual data so i have an output of actual numbers that i can then pass on to perform inverse kinematics? I'm not sure if i'm using the correct data type (i.e. String or otherwise) to pass on the values. any corrections, suggestions or solutions would be much appreciated. - Luke