publisher3at.cc

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/*
 * Software License Agreement (BSD License)
 *
 *  Hunter Allen <hunter.allen@vanderbilt.edu>
 *  All rights reserved.
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#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <kdl_parser/kdl_parser.hpp>

int main( int argc, char* argv[] )
{
        ros::init(argc, argv, "state_publisher" );
        ros::NodeHandle n;

        ros::Publisher joint_state_publisher = n.advertise<sensor_msgs::JointState>("joint_states",1000);

        tf::TransformBroadcaster broadcaster;
    ros::Rate loop_rate(30);

    // message declarations
    geometry_msgs::TransformStamped odom_trans;
    sensor_msgs::JointState joint_state;
    //odom_trans.header.frame_id = "base_link";
    //odom_trans.child_frame_id = "";

  while (ros::ok())
  {
        joint_state.header.stamp = ros::Time::now();
        joint_state.name.resize(4); //Pioneer has 4 joint state definitions. 
        joint_state.position.resize(4);

        joint_state.name[0] = "p3at_back_right_wheel_joint";
        joint_state.position[0] = 0;

        joint_state.name[1] = "p3at_back_left_wheel_joint";
        joint_state.position[1] = 0;

        joint_state.name[2] = "p3at_front_left_wheel_joint";
        joint_state.position[2] = 0;

        joint_state.name[3] = "p3at_front_right_wheel_joint";
        joint_state.position[3] = 0; 

    //odom_trans.header.stamp = ros::Time::now();
        //send the joint state information
        joint_state_publisher.publish(joint_state);
    //broadcaster.sendTransform(odom_trans);

        //adjust loop each iteration.
        loop_rate.sleep();
  }//the things ros will do

  return 0; 
}//end main