plugins/examples/org.eclipse.papyrus.robotics.ros2.examples/models/mara/MARAClient.compdef.uml - papyrus/org.eclipse.papyrus-robotics - Git at Google

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         <language>C++</language>
         <body>// Create message with the same type as the topic, &lt;hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>.
 auto msg = std::make_shared&lt;hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>();

 // Fill message content
 if (counter &lt; 10) {
 	float position_deg = 30+5*counter;
 	msg->position = position_deg * 3.1416/180.0; // Position to rads
 	msg->velocity = 0.4; // Velocity in rads/s
 	msg->control_type = 4; // Position and velocity control

 	motor1_goal_axis1_pub->publish(*msg);
 }
 else if (counter &lt; 20) {
 	float position_deg = 30+5*(counter-10);
 	msg->position = position_deg * 3.1416/180.0; // Position to rads
 	msg->velocity = 0.4; // Velocity in rads/s
 	msg->control_type = 4; // Position and velocity control

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 }
 else {
 	counter = 0;
 }

 // Log
 RCLCPP_INFO(get_logger(), &quot;Iteration number %d&quot;, counter);
 counter++;</body>
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	auto msg = std::make_shared<hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>();

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	if (counter < 10) {
	float position_deg = 30+5*counter;
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	msg->velocity = 0.4; // Velocity in rads/s
	msg->control_type = 4; // Position and velocity control

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	msg->velocity = 0.4; // Velocity in rads/s
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