text: #include "ros/ros.h"
  #include "xarm_api/xarm_ros_client.h"
  #include <xarm_api/xarm_driver.h>
  
  // Please run "export ROS_NAMESPACE=/xarm" first
  
  int main(int argc, char **argv)
  {
  	ros::init(argc, argv, "xarm_modbus");
  	ros::NodeHandle nh;
  
  	xarm_api::XArmROSClient client;
  	client.init(nh);
  
  	int recv_bytes = 7;
  	unsigned char send_data[6] = {0x01,0x06,0x00,0x0A,0x00,0x03};
  	unsigned char * recv_data = new unsigned char [recv_bytes]{0};
  	
  	int ret = 0;
  	ros::Rate rate(10);
  
  	ret = client.send_tool_modbus(send_data, 6, recv_data, recv_bytes);
  	fprintf(stderr, "ret = %d, recv_data: ", ret);
  
  	for(int i=0; i<recv_bytes; i++)
  	{
  		fprintf(stderr, "%x\t", recv_data[i]);
  	}
  	fprintf(stderr, "\n");
  	rate.sleep();
  
  	return 0;
  }