Understanding the messages API
Hello everyone.
I read the very good tutorials on messages/services and publishers/subscribers. I am currently using roscpp but I guess this question is not limited to it. After going through the tutorials, I wanted to apply what I learnt to MoveIt: generate a trajectory through the JoinTrajectory message and publish it to the joint_action_trajectory topic.
I am trying to figure out:
- If there is an easy way to construct such a message which wouldn't require me filling every field by hand (can we feed an std::vector? Is there a constructor? How do I know so I can generalize to other messages?)
- What should I put in the "include", what should I put in package.xml and CMakeLists.txt (for catkin in my case)? Again, how do I find that out?
Thanks