14 lines
382 B
Python
14 lines
382 B
Python
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from geometry_msgs.msg import PoseStamped
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import rospy
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from robot_utils.ros.conversions import *
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class CartesianPoseControllerClient:
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def __init__(self, topic="/command"):
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self.target_pub = rospy.Publisher(topic, PoseStamped, queue_size=10)
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def send_target(self, pose):
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msg = to_pose_stamped_msg(pose, "panda_link0")
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self.target_pub.publish(msg)
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