rq_test_sensor.cpp

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#include "ros/ros.h"
#include "std_msgs/String.h"
#include "robotiq_force_torque_sensor/ft_sensor.h"
#include "robotiq_force_torque_sensor/sensor_accessor.h"

#include <sstream>

/*void receiveCallback(const std_msgs::String::ConstPtr& msg)
{
        ROS_INFO("I heard: [%s]", msg->data.c_str());
}*/

void reCallback(const robotiq_force_torque_sensor::ft_sensor& msg)
{
        ROS_INFO("I heard: FX[%f] FY[%f] FZ[%f] MX[%f] MY[%f] MZ[%f]", msg.Fx,msg.Fy,msg.Fz,msg.Mx,msg.My,msg.Mz);
}

int main(int argc, char **argv)
{

  ros::init(argc, argv, "rq_test_sensor");


  ros::NodeHandle n;

  ros::ServiceClient client = n.serviceClient<robotiq_force_torque_sensor::sensor_accessor>("robotiq_force_torque_sensor_acc");
  ros::Subscriber sub1 = n.subscribe("robotiq_force_torque_sensor",100,reCallback);

  robotiq_force_torque_sensor::sensor_accessor srv;

  int count = 0;
  while (ros::ok())
  {
        if(count == 10000000){
                srv.request.command = "SET ZRO";
                if(client.call(srv)){
                        ROS_INFO("ret: %s", srv.response.res.c_str());
                }
                count = 0;
        }       

    ros::spinOnce();

    ++count;
  }


  return 0;
}