# Revision history [back]

Hello, I am having the same issue. I have tried to use the code of Jan and implement it in my situation. When I want to display my variable in the terminal it says it's 0.00. Which it shouldn't be. In a different code I was able to see that my variable "x" was send properly so I think the problem isn't in the sending part. Now I want to use my variable in my main. This is my code:

using namespace std;
class MoveRobot {
public:
double x;
double y;
double z;
double roll;
double pitch;
double yaw;
double a;
void PublishCoordinatesCallback(const ur5_inf3480::Coor msg);
};

void MoveRobot::PublishCoordinatesCallback(const ur5_inf3480::Coor msg) {
x = msg.x;
y = msg.y;
z = msg.z;
roll = msg.roll;
pitch = msg.pitch;
yaw = msg.yaw;
a = msg.a;
}

int main(int argc, char **argv) {
ros::init(argc, argv, "coordinates");
ros::NodeHandle nh;
ros::Rate loop_rate(30);
MoveRobot MoveRobot;
ros::Subscriber sub = nh.subscribe<ur5_inf3480::Coor>("topic_subscribed", 1, &MoveRobot::PublishCoordinatesCallback, &MoveRobot);
while (ros::ok())
{
ROS_INFO("This is x: %.2f", MoveRobot.x);
}
loop_rate.sleep();
ros::spin();
return 0;
}


Hello, I am having the same issue. I have tried to use the code of Jan and implement it in my situation. When I want to display my variable in the terminal it says it's 0.00. Which it shouldn't be. In a different code I was able to see that my variable "x" was send properly so I think the problem isn't in the sending part. Now I want to use my variable in my main. This is my code:

using namespace std;
class MoveRobot {
public:
double x;
double y;
double z;
double roll;
double pitch;
double yaw;
double a;
void PublishCoordinatesCallback(const ur5_inf3480::Coor msg);
};

void MoveRobot::PublishCoordinatesCallback(const ur5_inf3480::Coor msg) {
x = msg.x;
y = msg.y;
z = msg.z;
roll = msg.roll;
pitch = msg.pitch;
yaw = msg.yaw;
a = msg.a;
}

int main(int argc, char **argv) {
ros::init(argc, argv, "coordinates");
ros::NodeHandle nh;
ros::Rate loop_rate(30);
MoveRobot MoveRobot;
moverobot;
ros::Subscriber sub = nh.subscribe<ur5_inf3480::Coor>("topic_subscribed", 1, &MoveRobot::PublishCoordinatesCallback, &MoveRobot);
&moverobot);
while (ros::ok())
{
ROS_INFO("This is x: %.2f", MoveRobot.x);
moverobot.x);
}
loop_rate.sleep();
ros::spin();
return 0;
}