# Revision history [back]

### Problem of Baxter Bobot (Joint movement,Position Control)

I am a new beginner of C++ and ROS. I am going to write a program in C++ to control the joints to move continuously in a periodic motion. I have type a program for it, but it seems nothing is running after I run the program. The program skeleton:

# include "math.h"

int main(int argc, char **argv){

ros::init(argc, argv, "joint_position_command");
ros::NodeHandle n;
ros::Rate loop_rate(10);
baxter_core_msgs::JointCommand jc_msg;
jc_msg.mode = jc_msg.POSITION_MODE;
for(int i=0;i<91;i++){
jc_msg.command.push_back(sin(i));
jc_msg.names.push_back("right_s0");
}
while (ros::ok())
{
jc_pub.publish(jc_msg);
ros::spinOnce();
loop_rate.sleep();
}


return 0; }

Can anyone help me? Or give some suggestion/work flow on how to do a continuous periodic motion on Baxter's arm in C++ language?

 2 No.2 Revision gvdhoorn 76459 ●224 ●1118 ●935 http://cor.tudelft.nl/

### Problem of Baxter Bobot (Joint movement,Position Control)

I am a new beginner of C++ and ROS. I am going to write a program in C++ to control the joints to move continuously in a periodic motion. I have type a program for it, but it seems nothing is running after I run the program. The program skeleton:

# include "math.h"

#include "ros/ros.h"
#include "baxter_core_msgs/JointCommand.h"
#include <sstream>
#include <iostream>
#include "math.h"
int main(int argc, char **argv){ **argv){

ros::init(argc, argv, "joint_position_command");
ros::NodeHandle n;
ros::Rate loop_rate(10);
baxter_core_msgs::JointCommand jc_msg;
jc_msg.mode = jc_msg.POSITION_MODE;
for(int i=0;i<91;i++){
jc_msg.command.push_back(sin(i));
jc_msg.names.push_back("right_s0");
}
while (ros::ok())
{
jc_pub.publish(jc_msg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
return 0;
} Can anyone help me? Or give some suggestion/work flow on how to do a continuous periodic motion on Baxter's arm in C++ language? 





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