plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/dummy_robot/src/dummy_joint_statesCompdef/Dummy_joint_states_impl.cpp

// --------------------------------------------------------
// Copyright (c)
//
// contributions by author
//                  author@somewhere.net
// maintained by    maintainer
//                  maintainer@somewhere.net

// --------------------------------------------------------
// Code generated by Papyrus C++
// --------------------------------------------------------

#define dummy_joint_statesCompdef_Dummy_joint_states_impl_BODY

/************************************************************
 Dummy_joint_states_impl class body
 ************************************************************/

// include associated header file
#include "dummy_joint_statesCompdef/Dummy_joint_states_impl.h"

// Derived includes directives
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/time_source.hpp"

namespace dummy_joint_statesCompdef {

// static attributes (if any)

/**
 * 
 * @param options 
 */
Dummy_joint_states_impl::Dummy_joint_states_impl(
    rclcpp::NodeOptions /*in*/options) :
    Dummy_joint_states(options) {
}

/**
 * 
 */
void Dummy_joint_states_impl::activateFct() {
  msg.name.push_back("single_rrbot_joint1");
  msg.name.push_back("single_rrbot_joint2");
  msg.position.push_back(0.0);
  msg.position.push_back(0.0);
}

/**
 * 
 */
void Dummy_joint_states_impl::periodicFct() {
  counter += step_;
  RCLCPP_INFO(get_logger(), "counter %f", counter);
  auto joint_value = std::sin(counter);

  for (size_t i = 0; i < msg.name.size(); ++i) {
      msg.position[i] = joint_value;
  }

  msg.header.stamp = get_clock()->now();

  joint_states_pub_->publish(msg);
}

} // of namespace dummy_joint_statesCompdef

/************************************************************
 End of Dummy_joint_states_impl class body
 ************************************************************/