41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
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#include <iostream>
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#include "go2py/LowCmd.hpp"
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#include <thread>
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#include "utils/dds_subscriber.hpp"
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#include "utils/dds_publisher.hpp"
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// User-defined callback function
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void userDefinedCallback(const msgs::LowCmd& msg) {
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// Do something with the received message
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std::cout << "User callback executed with message: " << std::endl;
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}
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int main() {
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// Create a subscriber with a topic name and a user callback
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DDSSubscriber<msgs::LowCmd> subscriber("go2py/lowcmd", userDefinedCallback);
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// Create a publisher for the LowCmd message type on the topic "LowCmdTopic"
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DDSPublisher<msgs::LowCmd> publisher("LowCmdTopic");
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// Create a LowCmd message
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msgs::LowCmd message;
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// Initialize the message data
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for(int i = 0; i < 12; i++) {
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message.q()[i] = 0.0f;
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message.dq()[i] = 0.0f;
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message.tau_ff()[i] = 0.0f;
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message.kp()[i] = 1.0f;
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message.kv()[i] = 0.5f;
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}
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message.e_stop() = 0;
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while(1)
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{
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std::this_thread::sleep_for(std::chrono::seconds(1));
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publisher.publish(message);
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}
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return 0;
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}
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