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For this,

you have to define all the variables in the message type and publish it.

Example Here is sample code snippet, you may have to extend it if I have missed any.

Assuming the the variables x,y,z represent the 3D position.

geometry_msgs::PoseWithCovarianceStampedConstPtr& msg;

msg->pose.pose.position.x = x;

msg->pose.pose.position.y = y;

msg->pose.pose.position.z = z;

Assuming that convert the 3D angles into quarternion representation gives (theta1, theta2, theta3, theta4)

msg->pose.pose.orientation.x = theta1;

msg->pose.pose.orientation.y = theta2;

msg->pose.pose.orientation.z = theta3;

msg->pose.pose.orientation.w = theta4;

Then you have properly assign a header to this msg

msg->header = another_time_Stamped_msg.header;

or create a header by assigning a time and a frame id, for example

msg->header.frame_id = "\my_frame_id";

msg->header.stamp = ros::Time current_time;

I hope this solves the issue.