Method MoveLDemo

rm_example/src/api_MoveL_demo.cpp:97–106

构造函数，初始化发布器订阅器****************************************/

/***********************************构造函数，初始化发布器订阅器****************************************/
MoveLDemo::MoveLDemo():rclcpp::Node("Movel_demo_node")
{

  subscription_ = this->create_subscription<std_msgs::msg::Bool>("/rm_driver/movej_p_result", rclcpp::ParametersQoS(), std::bind(&MoveLDemo::MoveJPDemo_Callback, this,_1));
  publisher_ = this->create_publisher<rm_ros_interfaces::msg::Movejp>("/rm_driver/movej_p_cmd", rclcpp::ParametersQoS());
  movel_subscription_ = this->create_subscription<std_msgs::msg::Bool>("/rm_driver/movel_result", rclcpp::ParametersQoS(), std::bind(&MoveLDemo::MoveLDemo_Callback, this,_1));
  movel_publisher_ = this->create_publisher<rm_ros_interfaces::msg::Movel>("/rm_driver/movel_cmd", rclcpp::ParametersQoS());
  std::this_thread::sleep_for(std::chrono::milliseconds(2000));
  movejp_demo();
}
/***********************************************end**************************************************/

/******************************************************主函数*********************************************/