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poppy_ros
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it works !

This commit is contained in:
Lucas MARAIS 2024-01-07 23:23:20 +01:00
parent d283f7c534
commit 97d4093656
2 changed files with 4 additions and 3 deletions
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4
CMakeLists.txt
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@ -158,7 +158,7 @@ add_executable(ik_server src/ik_server.cpp /home/lucas/toolkit-kinematics/src/Ki
add_executable(ik_client src/ik_client.cpp) add_executable(ik_client src/ik_client.cpp)
add_executable(sim_poppy_joint src/poppy_ros.cpp) add_executable(sim_poppy_joint src/sim_poppy_joint.cpp)
## Rename C++ executable without prefix ## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the ## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use ## target back to the shorter version for ease of user use
@ -174,11 +174,11 @@ add_executable(sim_poppy_joint src/poppy_ros.cpp)
# ${catkin_LIBRARIES} # ${catkin_LIBRARIES}
# ) # )
target_link_libraries(poppy_ros dxl_x64_cpp rt ${catkin_LIBRARIES}) target_link_libraries(poppy_ros dxl_x64_cpp rt ${catkin_LIBRARIES})
target_link_libraries(sim_poppy_joint ${catkin_LIBRARIES})
target_link_libraries(ik_server ${catkin_LIBRARIES} ${OpenCV_LIBS}) target_link_libraries(ik_server ${catkin_LIBRARIES} ${OpenCV_LIBS})
target_link_libraries(ik_client ${catkin_LIBRARIES}) target_link_libraries(ik_client ${catkin_LIBRARIES})
target_link_libraries(sim_poppy_joint ${catkin_LIBRARIES})
############# #############
## Install ## ## Install ##
############# #############

3
src/sim_poppy_joint.cpp
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@ -1,7 +1,8 @@
#include "ros/ros.h" #include "ros/ros.h"
#include "geometry_msgs/Twist.h" #include "geometry_msgs/Twist.h"
#include "sensor_msgs/JointState.h"
std::vector<uint16_t> jointVec; std::vector<double> jointVec;
void jointCMDCallback(const geometry_msgs::Twist& joint_cmd) void jointCMDCallback(const geometry_msgs::Twist& joint_cmd)
{ {
jointVec.clear(); jointVec.clear();