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Need help with coding [closed]

asked 2022-05-30 12:21:46 -0500

lutinplunder gravatar image

updated 2022-05-30 17:30:00 -0500

I am trying to figure out how to write the code needed to take the angular Y value from my topic /shc/pose then possibly modify it to be negative (if needed for the servo to move in the correct direction) and then output it to the Abdomen_joint in my topic /desired_joint_states. The intent is that when I command a pitch of the body the abdomen will move the same amount in the opposite direction.

This is my first attempt at writing code from scratch, up to this point I have been modifying the syropod_highlevel_controller from CSIRO Robotics to support 8 legs.

After a bit of reading I have come up with this... But I'm not sure this is correct and I'm not sure if I am correctly referencing the msg arrays.

// Created by robdome on 5/30/22.
#include "shelob_syropod/Abdomen.h"

class SubscribeAndPublish
        //Topic you want to publish
        pub_ = n.advertise<sensor_msgs::JointState>("desired_joint_states", 1);

        //Topic you want to subscribe
        sub_ = n_.subscribe("shc/pose", 1000, &SubscribeAndPublish::callback, this);

    void callback(const geometry_msgs::Twist& input)
        sensor_msgs::JointState output;
          output.Abdomen_joint.position = input.angular.y * -1

    ros::NodeHandle n_;
    ros::Publisher pub_;
    ros::Subscriber sub_;

};//End of class SubscribeAndPublish

int main(int argc, char **argv)
    //Initiate ROS
    ros::init(argc, argv, "subscribe_and_publish");

    //Create an object of class SubscribeAndPublish that will take care of everything
    SubscribeAndPublish SAPObject;


    return 0;
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Closed for the following reason question is not relevant or outdated by lutinplunder
close date 2022-06-01 18:34:03.747854

1 Answer

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answered 2022-05-30 17:53:41 -0500

ljaniec gravatar image

There you have an example of C++ mixed node (pub/sub/srv) for ROS1 with Object-Oriented Programming:

This may be a good enough base to build on. There are some differences from your code, such as with ros::NodeHandle.

In general, if your code works, don't worry - just keep building and coding :) But good examples are very helpful.

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Asked: 2022-05-30 12:21:46 -0500

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Last updated: May 30 '22