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1 | initial version |
Hi,
I think the easiest way to do it in your case would be to send either Point, or Vector3
You can send it using:
On the talker part:
ros::Publisher vector_pub = n.advertise<geometry_msgs::vector3>("coordinates", 1);
geometry_msgs::Vector3 vectSend;
vectSend.x = coordinates.x;
vectSend.y = coordinates.y;
vectSend.z = coordinates.theta;
vector_pub.publish(vectSend);
On the listener part:
ros::Subscriber vector_sub = n.subscribe("chatter", 1000, coordinatesCb);
void coordinatesCb(const geometry_msgs::Vector3::ConstPtr& msg)
{
float goal_x, goal_y, goal_z;
goal_x = msg->x;
goal_y = msg->y;
goal_z = msg->z;
// do whatever you want with it and send to move_base
}
2 | No.2 Revision |
Hi,
I think the easiest way to do it in your case would be to send either Point, or Vector3
You can send it using:
using:
On the talker part:
part:
ros::Publisher vector_pub = n.advertise<geometry_msgs::vector3>("coordinates", 1);
ros::Publisher vector_pub = n.advertise<geometry_msgs::vector3>("coordinates", 1);
geometry_msgs::Vector3 vectSend;
vectSend.x = coordinates.x;
vectSend.y = coordinates.y;
vectSend.z = coordinates.theta;
vector_pub.publish(vectSend);
On the listener part:
part:
ros::Subscriber vector_sub = n.subscribe("chatter", 1000, coordinatesCb);
ros::Subscriber vector_sub = n.subscribe("chatter", 1000, coordinatesCb);
void coordinatesCb(const geometry_msgs::Vector3::ConstPtr&
msg)
{
msg){
float goal_x, goal_y, goal_z;
goal_x = msg->x;
goal_y = msg->y;
goal_z = msg->z;
// do whatever you want with it and send to move_base
}
3 | No.3 Revision |
Hi,
I think the easiest way to do it in your case would be to send either Point, or Vector3
You can send it using:
On the talker part:
ros::Publisher vector_pub = n.advertise<geometry_msgs::vector3>("coordinates", 1);
geometry_msgs::Vector3 vectSend;
vectSend.x = coordinates.x;
vectSend.y = coordinates.y;
vectSend.z = coordinates.theta;
vector_pub.publish(vectSend);
On the listener part:
ros::Subscriber vector_sub =
n.subscribe("chatter", 1000, n.subscribe("coordinates", 1, coordinatesCb);
void coordinatesCb(const geometry_msgs::Vector3::ConstPtr& msg){
float goal_x, goal_y, goal_z;
goal_x = msg->x;
goal_y = msg->y;
goal_z = msg->z;
// do whatever you want with it and send to move_base