Here is a complete template where I'm using this for a 7-dof dynamixel arm for sending joint values from .cpp node..

here is a node where I'm publishing to topics of another node and those particular topics are /joint0_controller/command /joint1_controller/command /joint2_controller/command /joint3_controller/command /joint4_controller/command /joint5_controller/command /joint6_controller/command /joint7_controller/command

and msg type is std_msgs/Float64

########### .cpp code..........

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>

// Message publication
#include "std_msgs/MultiArrayLayout.h"
#include "std_msgs/MultiArrayDimension.h"
#include "std_msgs/Float32MultiArray.h"
#include "std_msgs/Float64.h"
#include <std_msgs/Float64.h>
#include <sstream>

    using namespace std;

    // publisher declaration
    ros::Publisher shoulder_roll_joint, shoulder_pitch_joint, shoulder_yaw_joint,
                        elbow_pitch_joint, elbow_yaw_joint, wrist_pitch_joint, wrist_roll_joint, gripper_joint;



int main(int argc, char** argv)
{
    ros::init(argc, argv, "arm_joints");
    ros::NodeHandle nh;

    // publisher declaration

    shoulder_roll_joint = nh.advertise<std_msgs::Float64>("/joint0_controller/command", 1);
    shoulder_pitch_joint = nh.advertise<std_msgs::Float64>("/joint1_controller/command", 1);
    shoulder_yaw_joint = nh.advertise<std_msgs::Float64>("/joint2_controller/command", 1);
    elbow_pitch_joint = nh.advertise<std_msgs::Float64>("/joint3_controller/command", 1);
    elbow_yaw_joint = nh.advertise<std_msgs::Float64>("/joint4_controller/command", 1);
    wrist_pitch_joint = nh.advertise<std_msgs::Float64>("/joint5_controller/command", 1);
    wrist_roll_joint = nh.advertise<std_msgs::Float64>("/joint6_controller/command", 1);
    gripper_joint = nh.advertise<std_msgs::Float64>("/joint7_controller/command", 1);


    ros::Rate rate(50.0); // frequency of operation

    while (1)
    {   
        std_msgs::Float64 areaValue;
        std_msgs::Float64 Joint0, Joint1, Joint2, Joint3, Joint4, Joint5, Joint6, Joint7;

        Joint0.data = 0.0;
        Joint1.data = -1.2; 
        Joint2.data = 0.0; 
        Joint3.data = -1.2;
        Joint4.data = -1.2; 
        Joint5.data = -1.2;
        Joint6.data = 0.0;
        Joint7.data = 0.0;

        shoulder_roll_joint.publish(Joint0);
        shoulder_pitch_joint.publish(Joint1);
        shoulder_yaw_joint.publish(Joint2);
        elbow_pitch_joint.publish(Joint3);
        elbow_yaw_joint.publish(Joint4);
        wrist_pitch_joint.publish(Joint5);
        wrist_roll_joint.publish(Joint6);
        gripper_joint.publish(Joint7);


        rate.sleep();


    }
    return 0;

};

Hope it helps someone.

if anyone finds error or difficulty in understanding then please let me know.

Regards, Prasanna

Comments

I have to sign up to say thank you to you! This post really helped me! Good job! Best regards

Asked by AnNguyen on 2019-11-09 06:50:08 UTC

The "Anonymous" part of the "Anonymous Publish Subscribe" architecture that ROS is based on means that a node does not have to know if there are subscribers on a topic or not.

This means that publishing to a topic with subscribers is exactly the same as publishing to a topic that doesn't have any subscribers.

If you have a particular node that you're trying to interact with by publishing messages, you should publish them with the same type and topic name as the subscriber. Usually the topic names and types will be documented on the node's wiki page, or if the node is running you can find topic names with rostopic list and the type of a topic with rostopic info.

Comments