25 lines
503 B
C++
25 lines
503 B
C++
void Callback(msg) {
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//create empty vector
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//fill it with msg
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//call sendTargetJointPosition
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}
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int main(int argc, char** argv) {
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ros::init(argc, argv, "poppy_ros");
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ros::NodeHandle nh;
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ros::Publisher pub = nh.advertise <msg>("joint_position", 1);
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ros::Subscriber sub = nh.subscribe("joint_cmd", 1, Callback);
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ros::Rate loopRate(10);
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while (ros::ok()) {
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//create a msg
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//call readCurrentJointPosition
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//fill msg
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//publish it
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ros::spinOnce();
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loopRate.sleep();
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}
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return 0;
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} |