init

arm/src/joint_enable_control.cpp

@@ -0,0 +1,21 @@
+#include <unitree/robot/channel/channel_publisher.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include "msg/ArmString_.hpp"
+
+#define TOPIC "rt/arm_Command"
+
+using namespace unitree::robot;
+using namespace unitree::common;
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+    ChannelPublisher<unitree_arm::msg::dds_::ArmString_> publisher(TOPIC);
+    publisher.InitChannel();
+
+    unitree_arm::msg::dds_::ArmString_ msg{};
+    msg.data_() = "{\"seq\":4,\"address\":1,\"funcode\":5,\"data\":{\"mode\":0}}";
+    publisher.Write(msg);
+ 
+    return 0;
+}