wat

hexapod_python/jtc_test.py

@@ -10,6 +10,7 @@ class JTCPublisher(Node):
             self.group_tags_ = [ "e1", "e2", "e3", "e4", "e5", "e6"]
             
             self.publisher_ = {}
+            trajectory = {}
 
             for tag in self.group_tags_:
             
@@ -22,7 +23,7 @@ class JTCPublisher(Node):
                     direction = -1
 
                 self.publisher_[tag] = self.create_publisher(JointTrajectory, controller_topic , 10)
-                trajectory = JointTrajectory(
+                trajectory[tag] = JointTrajectory(
                     joint_names = [ f"c{group_num}_joint", f"f{group_num}_joint", f"t{group_num}_joint" ],
                     points = [ 
                             JointTrajectoryPoint (time_from_start = Duration(sec = 1), positions = [direction * 0,    direction * -1.4, direction *   0]),
@@ -37,7 +38,7 @@ class JTCPublisher(Node):
                             JointTrajectoryPoint (time_from_start = Duration(sec = 10), positions =[direction *    0, direction * -1.4, direction *   0]),
                     ]
                 )
-                self.publisher_[tag].publish(trajectory)
+                self.publisher_[tag].publish(trajectory[tag])
 
 def main(args = None):
     rclpy.init(args=args)