rosserial tf and publisher issues
When using rosserial tf and just a regular publisher I get the error: "Serial Port read returned short (expected 78 bytes, received 15 instead). [WARN] [WallTime: 1453575297.279503] Serial Port read failure"
If I remove the nh.advertise(pun_range) from the code below it works just fine. Is it not possible to use both at the same time? I would like to be able to publish data from the sensor on a tf topic and a different topic for a non tf node.
/*
* rosserial Time and TF Example
* Publishes a transform at current time
*/
#include <ros.h>
#include <ros/time.h>
#include <tf/transform_broadcaster.h>
#include <sensor_msgs/Range.h>
ros::NodeHandle nh;
sensor_msgs::Range range_msg;
geometry_msgs::TransformStamped t;
tf::TransformBroadcaster broadcaster;
ros::Publisher pub_range( "/ultrasound", &range_msg);
char base_link[] = "/base_link";
char odom[] = "/odom";
void setup()
{
nh.initNode();
nh.advertise(pub_range);
broadcaster.init(nh);
}
void loop()
{
t.header.frame_id = odom;
t.child_frame_id = base_link;
t.transform.translation.x = 1.0;
t.transform.rotation.x = 0.0;
t.transform.rotation.y = 0.0;
t.transform.rotation.z = 0.0;
t.transform.rotation.w = 1.0;
t.header.stamp = nh.now();
broadcaster.sendTransform(t);
nh.spinOnce();
delay(10);
}
Asked by AgentNoise on 2016-01-23 13:59:26 UTC
Comments