test_client.cpp

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#include "ros/ros.h"
#include "std_msgs/String.h"
#include <brics_actuator/JointPositions.h>              //brics
#include <brics_actuator/JointVelocities.h>             //brics

#include <sstream>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "test_client");

  ros::NodeHandle n;

 // ros::Publisher chatter_pub = n.advertise<brics_actuator::JointPositions>("/mapping_demonstrator_node/command_pos", 1);
    ros::Publisher chatter_pub = n.advertise<brics_actuator::JointVelocities>("/cob_3d_mapping_demonstrator_controller/command_vel", 1);

  ros::Rate loop_rate(20);

  while (ros::ok())
  {
    brics_actuator::JointVelocities jv;
    brics_actuator::JointValue jointVal1;
    jointVal1.timeStamp = ros::Time::now();
    jointVal1.joint_uri = "stepper";
    jointVal1.unit = "rad";
    jointVal1.value = 0.7;

        jv.velocities.push_back(jointVal1);

    jointVal1.joint_uri = "servo";
    jointVal1.value = 0.2;

        jv.velocities.push_back(jointVal1);

    chatter_pub.publish(jv);

    ros::spinOnce();

    loop_rate.sleep();
   }


  return 0;
}