old_contents: #-*- coding:utf-8 -*-
  #!/usr/bin/env python
  """
  move_arm.pyのテスト用
  """
  import rospy
  
  from geometry_msgs.msg import (
      PoseStamped,
      Pose,
      Point,
      Quaternion,
  )
  from std_msgs.msg import Header
  
  
  def talker():
      rospy.init_node('joint_angle_talker')
      pub = rospy.Publisher('semi/joint_angle_chatter', PoseStamped)
  
      right_pose = []
      hdr = Header(stamp=rospy.Time.now(), frame_id='base')
  
      position=Point(
              x=0.9743684236857688,
              y=-0.400063802027193,
              z=0.45121855877314805,
              )
      orientation=Quaternion(
              x=0.05532824006190543,
              y=0.8002393257489635,
              z=0.09079879412889569,
              w=0.5901791137961719,
              )
      pose = Pose(position=position, orientation=orientation)
      right_pose.append(PoseStamped(header=hdr, pose=pose))
  
      position = Point(
              x=1.1257550223179955,
              y=-0.2874995035594442,
              z=0.4497770857427736)
      orientation = Quaternion(
              x=-0.4546518238906712,
              y=0.47559726095679095,
              z=-0.5269588476157249,
              w=0.5379715023333403)
      pose = Pose(position=position, orientation=orientation)
      right_pose.append(PoseStamped(header=hdr, pose=pose))
  
      while not rospy.is_shutdown():
          log = "hello, baxter. I'm talking right_arm_pose: {}".format(right_pose[0])
          rospy.loginfo(log)
          pub.publish(right_pose[0])
          rospy.sleep(1.)
  
  
  if __name__ == '__main__':
      try:
          talker()
      except rospy.ROSInterruptException:
          pass
  
new_contents: #-*- coding:utf-8 -*-
  #!/usr/bin/env python
  """
  move_arm.pyのテスト用
  """
  import rospy
  
  from geometry_msgs.msg import (
      PoseStamped,
      Pose,
      Point,
      Quaternion,
  )
  from std_msgs.msg import Header
  
  
  def talker():
      rospy.init_node('joint_angle_talker')
      pub = rospy.Publisher('semi/joint_angle_chatter', PoseStamped)
  
      right_pose = []
      hdr = Header(stamp=rospy.Time.now(), frame_id='base')
  
      position=Point(
              x=0.9743684236857688,
              y=-0.400063802027193,
              z=0.45121855877314805,
              )
      orientation=Quaternion(
              x=0.05532824006190543,
              y=0.8002393257489635,
              z=0.09079879412889569,
              w=0.5901791137961719,
              )
      pose = Pose(position=position, orientation=orientation)
      right_pose.append(PoseStamped(header=hdr, pose=pose))
  
      while not rospy.is_shutdown():
          log = "hello, baxter. I'm talking right_arm_pose: {}".format(right_pose[0])
          rospy.loginfo(log)
          pub.publish(right_pose[0])
          rospy.sleep(1.)
  
  
  if __name__ == '__main__':
      try:
          talker()
      except rospy.ROSInterruptException:
          pass
  
subject: Update joint_angle_talker.py