delete joint_state
@@ -195,9 +195,9 @@ public:
DEBUG_PRINT("\r\n [Publisher Create] /imu : "); DEBUG_PRINT((imu_pub_!=NULL?"Success":"Fail")); DEBUG_PRINT(this->err_code);
// Joint(Dynamixel) state of Turtlebot3
- joint_states_pub_ = this->createPublisher<sensor_msgs::JointState>("joint_states");
- this->createWallFreq(JOINT_STATE_PUBLISH_FREQUENCY, (ros2::CallbackFunc)publishJointState, NULL, joint_states_pub_);
- DEBUG_PRINT("\r\n [Publisher Create] /joint_states : "); DEBUG_PRINT((joint_states_pub_!=NULL?"Success":"Fail")); DEBUG_PRINT(this->err_code);
+ // joint_states_pub_ = this->createPublisher<sensor_msgs::JointState>("joint_states");
+ // this->createWallFreq(JOINT_STATE_PUBLISH_FREQUENCY, (ros2::CallbackFunc)publishJointState, NULL, joint_states_pub_);
+ // DEBUG_PRINT("\r\n [Publisher Create] /joint_states : "); DEBUG_PRINT((joint_states_pub_!=NULL?"Success":"Fail")); DEBUG_PRINT(this->err_code);
// // (Not necessary) Battey state of Turtlebot3
// battery_state_pub_ = this->createPublisher<sensor_msgs::BatteryState>("battery_state");
@@ -246,7 +246,7 @@ private:
//ros2::Publisher<nav_msgs::Odometry>* odom_pub_;
ros2::Publisher<turtlebot3_msgs::SensorState>* sensor_state_pub_;
ros2::Publisher<sensor_msgs::Imu>* imu_pub_;
- ros2::Publisher<sensor_msgs::JointState>* joint_states_pub_;
+ // ros2::Publisher<sensor_msgs::JointState>* joint_states_pub_;
ros2::Publisher<turtlebot3_msgs::VersionInfo>* version_info_pub_;
//ros2::Publisher<sensor_msgs::BatteryState>* battery_state_pub_;
