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Simple problem with TwistStamped msg

asked 2015-07-13 06:09:11 -0600

Alvaro Salcedo gravatar image

updated 2015-07-13 06:11:24 -0600

hi Ros users:

I am trying to do an array of velocities. This is my code:

  geometry_msgs::Twist cmd;
  geometry_msgs::TwistStamped tiempo;
  cmd.linear.x = 1; 
  cmd.linear.y = 0;
  cmd.linear.z = 0;

  tiempo.header.stamp=5;
  cmd.angular.x = 0;
  cmd.angular.y = 0;
  cmd.angular.z = 4;
  vel_pub_.publish(cmd);

But when it is compiled i can see these errors on terminal

/home/alcor/catkin_ws/src/lanzar_velocidades/src/arrayvel.cpp:52:3: error: ‘geometry’ has not been declared geometry::TwistStamped tiempo; ^ /home/alcor/catkin_ws/src/lanzar_velocidades/src/arrayvel.cpp:52:26: error: expected ‘;’ before ‘tiempo’
geometry::TwistStamped tiempo; ^ /home/alcor/catkin_ws/src/lanzar_velocidades/src/arrayvel.cpp:57:3: error: ‘tiempo’ was not declared in this scope tiempo.header.stamp=5;
^ make[2]: * [lanzar_velocidades/CMakeFiles/arrayvel_node.dir/src/arrayvel.cpp.o] Error 1 make[1]: * [lanzar_velocidades/CMakeFiles/arrayvel_node.dir/all] Error 2

Any ideas?

Thanks!

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answered 2015-07-13 06:26:24 -0600

dornhege gravatar image

stamp must be a ros::Time object. Also 5 seems quite arbitrary and is probably not gonna do what you want it to do.

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answered 2015-07-13 06:29:15 -0600

Alvaro Salcedo gravatar image

Thanks for your response @dornhege

I would like to publish a linear velocity of 1 m/s and in 5sec I would like to publish an angular velocity of 4. Is that the way to do this?

thanks!

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dornhege gravatar imagedornhege ( 2015-07-13 06:36:25 -0600 )edit

This is not. Do what you say. Publish 1m/s and in 5sec publish angular of 4rad/s.

dornhege gravatar imagedornhege ( 2015-07-13 06:36:53 -0600 )edit

but How can I publish a velocity in 5sec?

Alvaro Salcedo gravatar imageAlvaro Salcedo ( 2015-07-13 06:43:37 -0600 )edit

Use code, wait 5s, i.e. this is not a ROS thing. Just make sure you publish 5s later.

dornhege gravatar imagedornhege ( 2015-07-13 06:54:36 -0600 )edit

Yes, but how can I wait 5sec in code? with ros sleep?

Alvaro Salcedo gravatar imageAlvaro Salcedo ( 2015-07-13 07:14:25 -0600 )edit

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Asked: 2015-07-13 06:09:11 -0600

Seen: 657 times

Last updated: Jul 13 '15