Joint Control in Baxter using ROS in C++

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Hi,

I am a beginner in ROS. I am trying to control Baxter Robot using ROS in C++ language. I want to move Baxter in Joint Level Control by providing each joint angels. Since, this is my learning phase, so I am avoiding python API for now. However I have already tried python API from the Baxter official website.

Well, I tried printing the current joint angles by subscribing to /robot/joint_states topic in the following way node.subscribe("/robot/joint_states",100,printJointStates);. It works perfectly. Now, I wanted to move the joints. So I tried to publish the data into /robot/limb/right/joint_command topic. Below is the complete code-

#include <ros/ros.h>
#include <sensor_msgs/JointState.h>

int main(int argc, char **argv)
{
    //Initializen the ros
    ros::init(argc, argv, "move_joints");

    //Declare the node handle
    ros::NodeHandle node;

    //Decleare a joint state publisher
    ros::Publisher joint_pub = node.advertise<sensor_msgs::JointState>("/robot/limb/right/joint_command",10);

    //Define the joint state
    sensor_msgs::JointState joint_state;

    joint_state.name[0] = "right_e0";
    joint_state.name[1] = "right_e1";
    joint_state.name[2] = "right_s0";
    joint_state.name[3] = "right_s1";
    joint_state.name[4] = "right_w0";
    joint_state.name[5] = "right_w1";
    joint_state.name[6] = "right_w2";

    joint_state.position[0] = 0.0;
    joint_state.position[1] = 0.0;
    joint_state.position[2] = 0.0;
    joint_state.position[3] = 0.0;
    joint_state.position[4] = 0.0;
    joint_state.position[5] = 0.0;
    joint_state.position[6] = 0.0;

    //command the robot to move
    joint_pub.publish(joint_state);

    ros::spinOnce();

    return 0;
}

The code compiles without any error but shows following error in the run time- segmentation fault (core dumped)

I suspect that the JointState is not properly defined. Please note that I am using ROS Indigo in Ubuntu 14.04 LTS 64 Bit OS. I am using Gazebo simulator to test this code.

I am unable to proceed further. Please provide your suggestions.