sas
Modularised monitoring, logging, and control of robots.
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joint_interface_example Namespace Reference

Functions

 main (args=None)
 main (args=None)

Detailed Description

# Copyright (c) 2012-2025 Murilo Marques Marinho
#
#    This file is part of sas_ur_control_template.
#
#    sas_ur_control_template is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Lesser General Public License as published by
#    the Free Software Foundation, either version 3 of the License, or
#    (at your option) any later version.
#
#    sas_ur_control_template is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Lesser General Public License for more details.
#
#    You should have received a copy of the GNU Lesser General Public License
#    along with sas_ur_control_template.  If not, see <https://www.gnu.org/licenses/>.
#
# #######################################################################################
#
#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
#   Based on `joint_interface_example.py` from `sas_robot_driver_kuka`
#
# #######################################################################################

# Copyright (c) 2012-2026 Murilo Marques Marinho
#
#    This file is part of sas_robot_driver_coppeliasim.
#
#    sas_robot_driver_coppeliasim is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Lesser General Public License as published by
#    the Free Software Foundation, either version 3 of the License, or
#    (at your option) any later version.
#
#    sas_robot_driver_coppeliasim is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Lesser General Public License for more details.
#
#    You should have received a copy of the GNU Lesser General Public License
#    along with sas_robot_driver_coppeliasim.  If not, see <https://www.gnu.org/licenses/>.
#
# #######################################################################################
#
#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
#   Based on `joint_interface_example.py` from `sas_ur_control_template`
#
# #######################################################################################

# Copyright (c) 2012-2026 Murilo Marques Marinho
#
#    This file is part of sas_robot_driver_gazebo.
#
#    sas_robot_driver_gazebo is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Lesser General Public License as published by
#    the Free Software Foundation, either version 3 of the License, or
#    (at your option) any later version.
#
#    sas_robot_driver_gazebo is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Lesser General Public License for more details.
#
#    You should have received a copy of the GNU Lesser General Public License
#    along with sas_robot_driver_gazebo.  If not, see <https://www.gnu.org/licenses/>.
#
# #######################################################################################
#
#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
#   Based on `joint_interface_example.py` from `sas_ur_control_template`
#
# #######################################################################################

@file joint_interface_example.py
@brief Joint command example script.

Sends sinusoidal joint position targets through RobotDriverClient.

# Copyright (c) 2012-2026 Murilo Marques Marinho
#
#    This file is part of sas_ur_control_template.
#
#    sas_ur_control_template is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Lesser General Public License as published by
#    the Free Software Foundation, either version 3 of the License, or
#    (at your option) any later version.
#
#    sas_ur_control_template is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Lesser General Public License for more details.
#
#    You should have received a copy of the GNU Lesser General Public License
#    along with sas_ur_control_template.  If not, see <https://www.gnu.org/licenses/>.
#
# #######################################################################################
#
#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
#   Based on `joint_interface_example.py` from `sas_robot_driver_kuka`
#
# #######################################################################################

Function Documentation

◆ main() [1/2]

main ( args = None) 
@brief Run the joint command example.

Initializes ROS interfaces, waits for the robot driver client to become
enabled, and sends target joint positions in a loop.

@return None

◆ main() [2/2]

main ( args = None) 
@brief Run the joint command example.

Initializes ROS interfaces, waits for the robot driver client to become
enabled, and sends target joint positions in a loop.

@return None