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changing message from pointer to get publishing to work #1684

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26 changes: 13 additions & 13 deletions examples/micro-ros_tf_publisher/micro-ros_tf_publisher.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
#include <micro_ros_utilities/string_utilities.h>

rcl_publisher_t publisher;
tf2_msgs__msg__TFMessage * tf_message;
tf2_msgs__msg__TFMessage tf_message;
rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
Expand Down Expand Up @@ -113,13 +113,13 @@ void setup() {
error_loop();
}

tf_message->transforms.size = 2;
tf_message.transforms.size = 2;

tf_message->transforms.data[0].header.frame_id =
micro_ros_string_utilities_set(tf_message->transforms.data[0].header.frame_id, "/panda_link0");
tf_message.transforms.data[0].header.frame_id =
micro_ros_string_utilities_set(tf_message.transforms.data[0].header.frame_id, "/panda_link0");

tf_message->transforms.data[1].header.frame_id =
micro_ros_string_utilities_set(tf_message->transforms.data[1].header.frame_id, "/inertial_unit");
tf_message.transforms.data[1].header.frame_id =
micro_ros_string_utilities_set(tf_message.transforms.data[1].header.frame_id, "/inertial_unit");
}

void loop() {
Expand All @@ -131,14 +131,14 @@ void loop() {
double q[4];
euler_to_quat(IMU.rpy[0], IMU.rpy[1], IMU.rpy[2], q);

tf_message->transforms.data[0].transform.rotation.x = (double) q[1];
tf_message->transforms.data[0].transform.rotation.y = (double) q[2];
tf_message->transforms.data[0].transform.rotation.z = (double) q[3];
tf_message->transforms.data[0].transform.rotation.w = (double) q[0];
tf_message->transforms.data[0].header.stamp.nanosec = tv.tv_nsec;
tf_message->transforms.data[0].header.stamp.sec = tv.tv_sec;
tf_message.transforms.data[0].transform.rotation.x = (double) q[1];
tf_message.transforms.data[0].transform.rotation.y = (double) q[2];
tf_message.transforms.data[0].transform.rotation.z = (double) q[3];
tf_message.transforms.data[0].transform.rotation.w = (double) q[0];
tf_message.transforms.data[0].header.stamp.nanosec = tv.tv_nsec;
tf_message.transforms.data[0].header.stamp.sec = tv.tv_sec;

RCSOFTCHECK(rcl_publish(&publisher, tf_message, NULL));
RCSOFTCHECK(rcl_publish(&publisher, &tf_message, NULL));

//RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
}