Revision history [back]

i found the solution. I dont known why but ros::Duration(3).sleep(); doesnt help, So, i use loop_rate.sleep();. Like:

  ros::Rate loop_rate(0.2);
...
....
r_arm_comand_publisher.publish(msg);

ros::spinOnce();
loop_rate.sleep();


in this way i get everything working well.

Thanks for all the help