ROS机械臂获取在rivz中各个关节的角度

在rviz中订阅机械臂的位置、速度的消息是/joint_state,订阅的C++代码

#include <sensor_msgs/JointState.h>
#include "ros/ros.h"
#include <vector>

vector<double> y = {0,0,0,0,0,0,0};

void chatterCallback2(const sensor_msgs::JointStateConstPtr &msg)   // position, msg--position/velocity
{
	for(int i=0;i<7;i++)
	{
		y[i] = msg->position[i];
	}
	ROS_INFO("%3f, %3f, %3f, %3f, %3f, %3f, %3f",y[0],y[1],y[2],y[3],y[4],y[5],y[6]);
}

int main(int argc,char **argv)
{
    ros::init(argc,argv,"adrc");
	ros::NodeHandle n;
    ros::Subscriber sub2 = n.subscribe("/joint_states",1000, chatterCallback2); 
    ros::spinOnce();
    return 0;
}