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select joint_state message information to string

HI! everyone

I am try to control my own real robot arms by moveit,and i saw i can subscribe fakecontrollerjoint_states from google group.Then i can get some information like which joint move how much angle.

How could i change or choose these callback information (jointstate) to string,then i can send it to the microcontroller(not arduino) by serial port,please teach me how to do or any ideal ?

number1: 1=leftarm , 2=rightarm number2: 0=stop , 1=move

example:

String:[1,1,30,30,30,30,30,30] means control the leftarm move the all six joint 30 degrees
String:[2,1,60,60,60,60,60,60] means control the right
arm move the all six joint 60 degrees

Thanks for any help and ideals,best regard!

Asked by peterlin300 on 2016-06-13 04:53:33 UTC

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