ROS Programming: Building Powerful Robots

Creating an example to use the servomotor

Now, we are going to show you how you can move the motor using a node. Create a new file, c8_dynamixel.cpp, in your /c_tutorials/src directory with the following code snippet:

#include<ros/ros.h> 
#include<std_msgs/Float64.h> 
#include<stdio.h> 
 
using namespace std; 
 
class Dynamixel{ 
  private: 
  ros::NodeHandle n; 
  ros::Publisher pub_n; 
  public: 
  Dynamixel(); 
  int moveMotor(double position); 
}; 
 
Dynamixel::Dynamixel(){ 
  pub_n = n.advertise<std_msgs::Float64>  ("/tilt_controller/command",1); } int Dynamixel::moveMotor(double position) { std_msgs::Float64 aux; aux.data = position; pub_n.publish(aux); return 1; } int main(int argc,char** argv) { ros::init(argc, argv, "c8_dynamixel"); Dynamixel motors; float counter ...