Log Data from Husky Encoders

[hjed]

This is written from the rostopic /joint_states ATM, this can be read using "rostopic echo /joint_states"

[hjed]

Ok, I'm going to be away tomorrow but I did start on this last week.

The setup for it broke the make process for making the husky move however so I haven't submited it to git. The message class is ensor_msgs::JoinState::ConstPtr&, but I hadn't worked out how to extract data from it yet. You need to look at the ros documentation to work it out. Here is the code for reading from the encoders /*

• This service logs the calls from the husky's encoders
• Created by Harry J E Day for BlueSat UNSW

• Date 22/03/2014 */

  include "ros/ros.h"

  include "sensor_msgs/JointState.h"

  void reciveMsg(const sensor_msgs::JoinState::ConstPtr& msg) { ROS_INFO("recived a message"); }

  int main(int argc, char\ argv) {

  //initialise the ros package ros::init(argc, argv, "encoderLogger");

  //a nodehandler is used to communiate with the rest of ros ros::NodeHandle n;

  //pass the void that is called when a message is recived ros::Subscriber sub = n.subscribe("/joint_states", 1000, reciveMsg);

  //loop with callbacks ros::spin();

  return 0; }