Ask Your Question
1

rostopic pub geometry_msgs/PoseArray example

asked 2017-01-09 15:11:11 -0600

Ben12345 gravatar image

Can anybody give me an example of geometry_msgs/PoseArray message using rostopic pub? I keep on getting errors when i try and interpret the syntax from the ROS documentation, a solid example would be really helpful.

Thanks!

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
2

answered 2017-01-09 16:58:09 -0600

updated 2017-01-09 17:08:33 -0600

Here's an example with the Bash multiline syntax:

rostopic pub /test geometry_msgs/PoseArray "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
poses:
- position:
    x: 1.0
    y: 2.0
    z: 3.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0
- position:
    x: 4.0
    y: 5.0
    z: 6.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0"

Here's an example using the YAML command line dictionary syntax:

rostopic pub /test geometry_msgs/PoseArray "{header: auto, poses: [{position: [1,2,3]}, {position: [4,5,6]}]}"\

You can also use the -f option to read the message contents from a YAML file. For example, imagine tmp.yaml had the following contents:

poses:
- position:
    x: 1.0
    y: 2.0
    z: 3.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0
- position:
    x: 4.0
    y: 5.0
    z: 6.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0

This could be published using

rostopic pub /test geometry_msgs/PoseArray -f tmp.yaml

Note that when reading from a file if you would like to publish the message continuously at a set rate, you need to have multiple messages in the file separated by --- lines.

Personally when the messages get this complicated, I generally just write a short Python script to publish the desired message at whatever rate I want to avoid having to mess with this complicated syntax at the command line.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2017-01-09 15:11:11 -0600

Seen: 3,303 times

Last updated: Jan 09 '17