Limb Tester for baxter_interface

limb_tester.py

#! /usr/bin/python

import rospy
import baxter_interface

rospy.init_node("foobar")
l = baxter_interface.Limb('left')

def limb_breaker(tid, l):
    while not rospy.is_shutdown():
        #print("T: {} - {}".format(tid, l.joint_angles()))
        ang = l.joint_angles()

#Test 1: thread
#import thread
#thread.start_new_thread( limb_breaker, (1, l,)) 
#thread.start_new_thread( limb_breaker, (2, l,)) 
#while not rospy.is_shutdown():
#   pass
#Test 2: multiprocessing
#from multiprocessing import Process
#p1 = Process(target=limb_breaker, args=(1, l,))
#p2 = Process(target=limb_breaker, args=(2, l,))
#p1.start()
#p2.start()
#while not rospy.is_shutdown():
#   pass
#p1.join()
#p2.join()
#Test 3: threading
import threading
threads = []
num_threads = 10
for i in range(num_threads):
    t = threading.Thread(target=limb_breaker, args=(i, l,))
    threads.append(t)
    threads[i].start()
while not rospy.is_shutdown():
   pass
for i in range(num_threads):
    threads[i].join()