test_tool_modbus.cpp

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#include "ros/ros.h"
#include "xarm_ros_client.h"
#include <xarm_driver.h>

// Please run "export ROS_NAMESPACE=/xarm" first

int main(int argc, char **argv)
{
        ros::init(argc, argv, "xarm_modbus");
        ros::NodeHandle nh;

        xarm_api::XArmROSClient client;
        client.init(nh);

        int recv_bytes = 7;
        unsigned char send_data[6] = {0x01,0x06,0x00,0x0A,0x00,0x03};
        unsigned char * recv_data = new unsigned char [recv_bytes]{0};
        
        int ret = 0;
        ros::Rate rate(10);

        ret = client.send_tool_modbus(send_data, 6, recv_data, recv_bytes);
        fprintf(stderr, "ret = %d, recv_data: ", ret);

        for(int i=0; i<recv_bytes; i++)
        {
                fprintf(stderr, "%x\t", recv_data[i]);
        }
        fprintf(stderr, "\n");
        rate.sleep();

        return 0;
}