code update

drv_test/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(motor_dev REQUIRED)
 find_package(interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
 
 add_executable(motor_test src/main.cpp)
 ament_target_dependencies(motor_test rclcpp motor_dev interfaces)

drv_test/src/main.cpp

@@ -2,6 +2,7 @@
 #include <memory>
 #include "rclcpp/rclcpp.hpp"
 #include "interfaces/msg/motor_cmd.hpp"
+#include "std_msgs/msg/string.hpp"
 
 using namespace std::chrono_literals;
 
@@ -14,15 +15,18 @@ public:
   : Node("motor_test_node")
   {
     publisher_ = this->create_publisher<MotorCmd>("/motor_cmd", 10);
+    //publisher_ = this->create_publisher<std_msgs::msg::String>("/led_cmd", 10);
     
-    timer_ = this->create_wall_timer(100ms, std::bind(&MotorCmdPublisher::timer_callback, this));
+    timer_ = this->create_wall_timer(5000ms, std::bind(&MotorCmdPublisher::timer_callback, this));
   }
 
 private:
   int angle1=9999;
   int angle2=6666;
+  int xcnt=0;
   void timer_callback()
   {
+#if 1
     auto message = MotorCmd();
     
     message.target = "rs485";
@@ -44,14 +48,25 @@ private:
     message.motor_angle.push_back((float)angle1);
     message.motor_angle.push_back((float)angle2);
     publisher_->publish(message);
-    
     RCLCPP_INFO(this->get_logger(), "Published MotorCmd message:%d,%d",angle1,angle2);
-    
-    timer_->cancel();
+#endif 
+#if 0  
+    auto message=std_msgs::msg::String();
+    xcnt+=1;
+    if(xcnt%2==0)
+    	message.data="green,10";
+    else
+	message.data="blue,10";
+    publisher_->publish(message);
+
+    RCLCPP_INFO(this->get_logger(), "Published LedCmd message:%s",message.data.c_str());
+#endif
+    //timer_->cancel();
   }
   int idx=0; 
   rclcpp::TimerBase::SharedPtr timer_;
   rclcpp::Publisher<MotorCmd>::SharedPtr publisher_;
+  //rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
 };
 
 int main(int argc, char * argv[])