joint_state_sub.cpp
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00001 #include "ros/ros.h"
00002 #include "std_msgs/Float32MultiArray.h"
00003 #include "sensor_msgs/JointState.h"
00004 
00005 std_msgs::Float32MultiArray joints_cmd;
00006 ros::Publisher cmd_pub;
00007  
00008 
00009 void chatterCallback1(const sensor_msgs::JointState::ConstPtr &msg)
00010 {
00011   ROS_INFO("Callback1[%f,%f,%f,%f,%f,%f]",msg->position[0],msg->position[1],msg->position[2],msg->position[3],msg->position[4],msg->position[5]);
00012   joints_cmd.data[0] = msg->position[0];
00013   joints_cmd.data[1] = msg->position[1];
00014   joints_cmd.data[2] = msg->position[2];
00015   joints_cmd.data[3] = msg->position[3];
00016   joints_cmd.data[4] = msg->position[4];
00017   joints_cmd.data[5] = msg->position[5];
00018   cmd_pub.publish(joints_cmd);
00019 }
00020 
00021 
00022 
00023 int main(int argc, char **argv)
00024 {
00025  
00026   ros::init(argc, argv, "joint_state_sub");
00027 
00028   ros::NodeHandle nh;
00029 
00030   sleep(3.0);
00031 
00032   ros::Subscriber sub1 = nh.subscribe("joint_states", 1000, chatterCallback1);
00033   cmd_pub = nh.advertise<std_msgs::Float32MultiArray> ("movej_cmd", 1);
00034 
00035  
00036   joints_cmd.data.resize(6);
00037 
00038   ros::spin();
00039 
00040   return 0;
00041 }


aubo_control
Author(s): liuxin
autogenerated on Wed Sep 6 2017 03:06:39