# work_order_publisher.py

## What is this?

Publish optimized work orders of the tasks.

## Subscribing topics

None

## Publishing topics

• ~left_hand (jsk_arc2017_common/WorkOrderArray)

  Optimized work orders for left hand.

• ~right_hand (jsk_arc2017_common/WorkOrderArray)

  Optimized work orders for right hand.

## Parameters

• ~json_dir (String, required)

  Directory where initial json files are located

• ~rate (Int, default: 1)

  Hz of publishing topics

## Sample

`bash roslaunch jsk_arc2017_common sample_work_order_publisher.launch `