publisher3dx.cc

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/*
 * Software License Agreement (BSD License)
 *
 *  Hunter Allen <allen286@purdue.edu>
 *  All rights reserved.
 *
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 *  modification, are permitted provided that the following conditions
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 *     disclaimer in the documentation and/or other materials provided
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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);
        ros::Rate loop_rate(100);

        // message declarations
        sensor_msgs::JointState joint_state;

        while (ros::ok())
        {
                joint_state.header.stamp = ros::Time::now();
                joint_state.name.resize(5); //Pioneer has 4 joint state definitions.
                joint_state.position.resize(5);

                joint_state.name[0] = "p3dx_back_right_wheel_joint";
                joint_state.position[0] = 0;

                joint_state.name[1] = "p3dx_back_left_wheel_joint";
                joint_state.position[1] = 0;

                joint_state.name[2] = "p3dx_front_left_wheel_joint";
                joint_state.position[2] = 0;

                joint_state.name[3] = "p3dx_front_right_wheel_joint";
                joint_state.position[3] = 0;

                joint_state.name[4] = "p3dx_base_swivel_joint";
                joint_state.position[4] = 0;
                //send the joint state information
                joint_state_publisher.publish(joint_state);

                //adjust loop each iteration.
                loop_rate.sleep();
        }//loop while ROS is functioning.

        return 0;
}//end main