test_jaco_arm_vel.cpp

Go to the documentation of this file.

//============================================================================
// Name        : Jaco.cpp
// Author      : 
// Version     :
// Copyright   : Your copyright notice
// Description : Hello World in C++, Ansi-style
//============================================================================

//License File
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/TwistStamped.h>
#include <tf/tf.h>
#include <ros/ros.h>
#include <jaco_driver/cartesian_velocity.h>

using namespace std;
ros::Publisher pub;
void TimerCallback(const ros::TimerEvent&)
{
        jaco_driver::cartesian_velocity test_msg;

                        test_msg.Velocity_X = 0.0;
                        test_msg.Velocity_Y = 10;
                        test_msg.Velocity_Z = 0;
                        test_msg.Velocity_TX = 0;
                        test_msg.Velocity_TY = 0;
                        test_msg.Velocity_TZ = 0;


                        pub.publish(test_msg);


}

int main(int argc, char **argv) {

        /* Set up ROS */
        ros::init(argc, argv, "test_jaco_arm_vel");
        ros::NodeHandle nh;
        ros::NodeHandle param_nh("~");

        std::string JointVelocity("CartesianVelocity"); 

         pub = nh.advertise<jaco_driver::cartesian_velocity>(JointVelocity,
                        2);

        ros::Timer timer = nh.createTimer(ros::Duration(0.01),TimerCallback);


        ros::spin();
}