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1 | initial version |
you have to move these lines,
// hacking this in here at this place
io_ctrl_.init(connection);
this->srv_read_single_io = this->node_.advertiseService("read_single_io",
&MotomanJointTrajectoryStreamer::readSingleIoCB, this);
this->srv_write_single_io = this->node_.advertiseService("write_single_io",
&MotomanJointTrajectoryStreamer::writeSingleIoCB, this);
inside this method,
bool MotomanJointTrajectoryStreamer::init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names, const std::map<std::string, double=""> &velocity_limits) { ... }
2 | No.2 Revision |
you have to move these lines,
// hacking this in here at this place
io_ctrl_.init(connection);
this->srv_read_single_io = this->node_.advertiseService("read_single_io",
&MotomanJointTrajectoryStreamer::readSingleIoCB, this);
this->srv_write_single_io = this->node_.advertiseService("write_single_io",
&MotomanJointTrajectoryStreamer::writeSingleIoCB, this);
inside this method,
bool MotomanJointTrajectoryStreamer::init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
const std::map<std::string,