/
example_velocity.cpp
58 lines (43 loc) · 1.55 KB
/
example_velocity.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/float64_multi_array.hpp"
std::shared_ptr<rclcpp::Node> node;
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
node = std::make_shared<rclcpp::Node>("velocity_test_node");
auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
"/velocity_controller/commands", 10);
RCLCPP_INFO(node->get_logger(), "node created");
std_msgs::msg::Float64MultiArray commands;
using namespace std::chrono_literals;
commands.data.push_back(0);
publisher->publish(commands);
std::this_thread::sleep_for(1s);
commands.data[0] = 1;
publisher->publish(commands);
std::this_thread::sleep_for(1s);
commands.data[0] = -1;
publisher->publish(commands);
std::this_thread::sleep_for(1s);
commands.data[0] = 0;
publisher->publish(commands);
std::this_thread::sleep_for(1s);
rclcpp::shutdown();
return 0;
}