JointState messages #8
Description
Hey,
I also want to thank you guys for providing this great environment.
I have an issue that I want to publish JointState messages from Unity to ROS. But if publish them i also get the error in ROS:
Here is the code to JointMsg i created:
`using System.Collections;
using System.IO;
using System.Text;
using SimpleJSON;
using ROSBridgeLib.std_msgs;
using UnityEngine;
using System;
using System.Linq;
using System.Collections.Generic;
namespace ROSBridgeLib {
namespace sensor_msgs {
public class JointStateMsg : ROSBridgeMsg {
private HeaderMsg _header;
private string _name;
private double[] _position;
private double[] _velocity;
private double[] _effort;
public JointStateMsg(JSONNode msg) {
_header = new HeaderMsg (msg ["header"]);
string jointnames = msg["name"];
//_name = jointnames.Split(new[] { ", " }, StringSplitOptions.None);
_position = Array.ConvertAll((msg["position"]).Split(','), new Converter<string, double>(Double.Parse));
_velocity = Array.ConvertAll((msg["velocity"]).Split(','), new Converter<string, double>(Double.Parse));
_effort = Array.ConvertAll((msg["effort"]).Split(','), new Converter<string, double>(Double.Parse));
}
public JointStateMsg(HeaderMsg header, string[] name, double[] position, double[] velocity, double[] effort) {
_header = header;
//_name = name;
_position = position;
_velocity = velocity;
_effort = effort;
}
public JointStateMsg(HeaderMsg header, string name_joined, double[] position, double[] velocity, double[] effort)
{
_header = header;
_name = name_joined;
_position = position;
_velocity = velocity;
_effort = effort;
}
public double[] GetPosition() {
return _position;
}
public double GetJointPosition(int Joint)
{
return _position[Joint];
}
public double[] GetVelocity()
{
return _velocity;
}
public double GetJointVelocity(int Joint)
{
return _velocity[Joint];
}
public double GetJointEffort(int Joint)
{
return _effort[Joint];
}
public double[] GetEffort()
{
return _effort;
}
public static string GetMessageType() {
return "sensor_msgs/JointState";
}
public override string ToString() {
return "Joint State [Header " + _header.ToString() + ", name =" + _name
+ ", position = " + string.Join(", ", _position.Select(p => p.ToString()).ToArray())
+ ", velocity = " + string.Join(", ", _velocity.Select(p => p.ToString()).ToArray())
+ ", effort = " + string.Join(", ", _effort.Select(p => p.ToString()).ToArray()) + "]";
}
public override string ToYAMLString()
{
return "{\"header\" :" + _header.ToYAMLString()
+ ", {\"name\": " + "[" + _name + "]}"
+ ", {\"position\": " + "[" + string.Join(", ", _position.Select(p => p.ToString()).ToArray()) + "]}"
+ ", {\"velocity\": " + "[" + string.Join(", ", _velocity.Select(p => p.ToString()).ToArray()) + "]}"
+ ", {\"effort\": " + "[" + string.Join(", ", _effort.Select(p => p.ToString()).ToArray()) + "]}"
+ "}";
}
}
}
}`
How should I pass those string[] and double[] to ROS?
Maybe you guys could help me. Would be great.
Many thanks