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

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>
 
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;
 
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