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correction IK

This commit is contained in:
Lucas MARAIS 2024-04-02 14:36:33 +02:00
parent 3f3e4068f6
commit bfb9c44dfd
1 changed files with 5 additions and 6 deletions
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11
catkin_ws/src/joystick_ros/src/parser.cpp
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@ -7,12 +7,8 @@
float axis0_value = 0.0; float axis0_value = 0.0;
float axis1_value = 0.0; float axis1_value = 0.0;
ros::NodeHandle nh;
// Initialize publisher for Axis values
ros::Publisher axis_values_pub = nh.advertise<std_msgs::Float32MultiArray>("axis_values", 10);
ros::Publisher axis_values_pub;
void serial_data_callback(const std_msgs::String::ConstPtr& msg) { void serial_data_callback(const std_msgs::String::ConstPtr& msg) {
// Parse received string message // Parse received string message
@ -37,7 +33,10 @@ void serial_data_callback(const std_msgs::String::ConstPtr& msg) {
int main(int argc, char** argv) { int main(int argc, char** argv) {
// Initialize ROS node // Initialize ROS node
ros::init(argc, argv, "serial_data_parser"); ros::init(argc, argv, "serial_data_parser");
ros::NodeHandle nh;
// Initialize publisher for Axis values
axis_values_pub = nh.advertise<std_msgs::Float32MultiArray>("axis_values", 10);
// Subscribe to serial data topic // Subscribe to serial data topic
ros::Subscriber sub = nh.subscribe("serial_data", 10, serial_data_callback); ros::Subscriber sub = nh.subscribe("serial_data", 10, serial_data_callback);
// Spin ROS node // Spin ROS node