publisher3at.cc
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4  * Hunter Allen <hunter.allen@vanderbilt.edu>
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34 
35 #include <string>
36 #include <ros/ros.h>
37 #include <sensor_msgs/JointState.h>
40 
41 int main( int argc, char* argv[] )
42 {
43  ros::init(argc, argv, "state_publisher" );
45 
46  ros::Publisher joint_state_publisher = n.advertise<sensor_msgs::JointState>("joint_states",1000);
47 
48  tf::TransformBroadcaster broadcaster;
49  ros::Rate loop_rate(30);
50 
51  // message declarations
52  geometry_msgs::TransformStamped odom_trans;
53  sensor_msgs::JointState joint_state;
54  //odom_trans.header.frame_id = "base_link";
55  //odom_trans.child_frame_id = "";
56 
57  while (ros::ok())
58  {
59  joint_state.header.stamp = ros::Time::now();
60  joint_state.name.resize(4); //Pioneer has 4 joint state definitions.
61  joint_state.position.resize(4);
62 
63  joint_state.name[0] = "p3at_back_right_wheel_joint";
64  joint_state.position[0] = 0;
65 
66  joint_state.name[1] = "p3at_back_left_wheel_joint";
67  joint_state.position[1] = 0;
68 
69  joint_state.name[2] = "p3at_front_left_wheel_joint";
70  joint_state.position[2] = 0;
71 
72  joint_state.name[3] = "p3at_front_right_wheel_joint";
73  joint_state.position[3] = 0;
74 
75  //odom_trans.header.stamp = ros::Time::now();
76  //send the joint state information
77  joint_state_publisher.publish(joint_state);
78  //broadcaster.sendTransform(odom_trans);
79 
80  //adjust loop each iteration.
81  loop_rate.sleep();
82  }//the things ros will do
83 
84  return 0;
85 }//end main
void publish(const boost::shared_ptr< M > &message) const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL bool ok()
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
int main(int argc, char *argv[])
Definition: publisher3at.cc:41
bool sleep()
static Time now()


p2os_urdf
Author(s): Hunter L. Allen , David Feil-Seifer , Brian Gerkey, Kasper Stoy, Richard Vaughan, Andrew Howard, Tucker Hermans, ActivMedia Robotics LLC, MobileRobots Inc.
autogenerated on Sat Jun 20 2020 03:29:47