Multi-Robot Setup

rbs_skill_servers/scripts/test_cartesian_controller.py

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+import rclpy
+from rclpy.node import Node
+import argparse
+
+from geometry_msgs.msg import PoseStamped
+
+class CartesianControllerPublisher(Node):
+
+    def __init__(self, robot_name: str):
+        super().__init__("cartesian_controller_pose_publisher")
+        self.publisher_ = self.create_publisher(
+            PoseStamped, 
+            "/" + robot_name + "/cartesian_motion_controller/target_frame", 10)
+        timer_period = 0.5  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+
+    def timer_callback(self):
+        msg = PoseStamped()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.header.frame_id = "base_link"
+        msg.pose.position.x = 0.7
+        msg.pose.position.y = 0.0
+        msg.pose.position.z = 0.45
+        msg.pose.orientation.x = 0.0
+        msg.pose.orientation.y = 0.707
+        msg.pose.orientation.z = 0.0
+        msg.pose.orientation.w = 0.707
+
+        self.publisher_.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    parser = argparse.ArgumentParser(description='ROS2 Minimal Publisher')
+    parser.add_argument('--robot-name', type=str, default='arm0', help='Specify the robot name')
+    args = parser.parse_args()
+    minimal_publisher = CartesianControllerPublisher(args.robot_name)
+
+    rclpy.spin(minimal_publisher)
+
+    minimal_publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()