29 lines
824 B
Python
29 lines
824 B
Python
import rclpy
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from rclpy.node import Node
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from unitree_api.msg import Request
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class PublisherNode(Node):
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def __init__(self):
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super().__init__('publisher_node')
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self.publisher_ = self.create_publisher(Request, '/api/robot_state/request', 10)
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self.timer = self.create_timer(1, self.publish_message)
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def publish_message(self):
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msg = Request()
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# Populate the message fields
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msg.header.identity.id=80005
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msg.header.identity.api_id=1001
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msg.parameter = '{"name":"sport_mode","switch":0}'
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self.publisher_.publish(msg)
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self.get_logger().info('Published message')
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def main(args=None):
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rclpy.init(args=args)
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node = PublisherNode()
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rclpy.spin(node)
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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