原本是想用ROS控制机械臂,后来突发奇想,想通过rand函数产生随机数,来让机械臂随便动,于是写了如下一小段
#include <ros/ros.h> //可以发送轨迹的
#include <trajectory_msgs/JointTrajectory.h>
#include "ros/time.h"
#include <stdlib.h>
ros::Publisher arm_pub;
int main(int argc, char** argv)
{
int y,z;
ros::init(argc, argv, "talker");
ros::NodeHandle n;
arm_pub = n.advertise<trajectory_msgs::JointTrajectory>("joint_path_command",1000);
ros::Rate loop_rate(10);
trajectory_msgs::JointTrajectory traj;
trajectory_msgs::JointTrajectoryPoint points_n;
traj.header.frame_id = "base_link";
traj.joint_names.resize(6);
y=6;
traj.points.resize(y);
for(z=0;z<y;z++)
{
traj.points[z].positions.resize(6);
traj.points[z].velocities.resize(6);//-----
}
traj.joint_names[0] ="joint_1";
traj.joint_names[1] ="joint_2";
traj.joint_names[2] =