teleop_tasks.finger_joint_mapper module

Map the joint states from the haptx driver.

Reads in joint states from /haptx/lh/raw_joint_states and maps them to /left_hand/joint_states

SUBSCRIBERS:

/haptx/lh/raw_joint_states: sensor/msgs/JointState

PUBLISHERS:

/left_hand/joint_states: sensor/msgs/JointState

class teleop_tasks.finger_joint_mapper.Mapper

Bases: Node

Maps joint angles from HaptX driver to Gazebo.

haptx_callback(msg)

Call whenever /haptx/lh/raw_joint_states topic gets published to.

Args:

msg (JointState): The joint states published by the

hatpx driver

teleop_tasks.finger_joint_mapper.main(args=None)

fingr_joint_mapper’s main function.