testing

hexapod_python/jtc_test.py

@@ -3,6 +3,8 @@ from builtin_interfaces.msg import Duration
 import rclpy
 from rclpy.node import Node
 
+import time
+
 class JTCPublisher(Node):
     def __init__(self):
             super().__init__('jtc_publisher')
@@ -38,6 +40,12 @@ class JTCPublisher(Node):
                             JointTrajectoryPoint (time_from_start = Duration(sec = 10), positions =[direction *    0, direction * -1.4, direction *   0]),
                     ]
                 )
+            
+            for tag in self.group_tags_:
+                while self.count_subscribers(f"/{tag}_group_controller/joint_trajectory") == 0:                    
+                    time.sleep(0.1)
+
+            for tag in self.group_tags_:
                 self.publisher_[tag].publish(trajectory[tag])
 
 def main(args = None):