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How to work with std_msgs::Int16MultiArray message type?

asked 2019-01-28 11:40:42 -0600

kump

308 ●44 ●56 ●61

updated 2019-01-28 11:44:01 -0600

What is needed to publish a How to work with std_msgs::Int16MultiArray message?

I tried

std_msgs::Int16MultiArray msg;
int16_t *velocities;
msg.data = velocities;

but just those few lines gives me errors while compiling

error: no match for ‘operator=’ (operand types are ‘std_msgs::Int16MultiArray_<std::allocator<void> >::_data_type {aka std::vector<short int, std::allocator<short int> >}’ and ‘int16_t* {aka short int*}’)
         msg.data = velocities;

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I believe this is a duplicate of #q37185.

gvdhoorn ( 2019-01-28 11:56:05 -0600 )edit

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answered 2019-01-29 06:05:46 -0600

kump

308 ●44 ●56 ●61

This works:

# definition in header
std::vector<physics::JointPtr> joints;
ros::Publisher rosPub;
std::unique_ptr<ros::NodeHandle> rosNode;

# initialization
this->rosNode.reset(new ros::NodeHandle( node_name ));
this->rosPub = this->rosNode->advertise<std_msgs::Float32MultiArray>("/velocity",1);

# callback function
std_msgs::Float32MultiArray msg;
msg.data.push_back( this->joints[0]->GetVelocity(0) );
msg.data.push_back( this->joints[1]->GetVelocity(0) );
msg.data.push_back( this->joints[2]->GetVelocity(0) );

this->rosPub.publish(msg);

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Please note that you're not initialising the layout field here. Subscribers that expect that field to describe the size, dimensionality and shape of the data you're publishing will not work correctly.

gvdhoorn ( 2019-01-29 06:32:55 -0600 )edit

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Asked: 2019-01-28 11:40:42 -0600

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Last updated: Jan 29 '19

How to work with std_msgs::Int16MultiArray message type? edit

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How to work with std_msgs::Int16MultiArray message type?