Joystick‐based Joint Control

void QNode::joy_joint_state_cb(const sensor_msgs::Joy::ConstPtr& joy_msg)
  {
    ROS_INFO("Joystick Joint Control");

    trajectory_planning_gui::JogJoint msg;
    msg.header.stamp = ros::Time::now();
    msg.header.frame_id = frame_id_;
    
    msg.joint_names.resize(6);
    for (int i=0; i<6; i++)
    {
      msg.joint_names[i] = joint_names[i];
    }

    msg.deltas.resize(6);
    
    msg.deltas[0] = 0.05 * (-joy_msg->buttons[4] + joy_msg->buttons[5]);
    msg.deltas[1] = 0.05 * (-joy_msg->buttons[0] + joy_msg->buttons[2]);
    msg.deltas[2] = 0.05 * (joy_msg->buttons[1] - joy_msg->buttons[3]);
    msg.deltas[3] = 0.05 * (joy_msg->axes[7]);
    msg.deltas[4] = 0.05 * (joy_msg->axes[6]);
    msg.deltas[5] = 0.05 * (-joy_msg->buttons[11] + joy_msg->buttons[12]);

    jog_joint_pub_.publish(msg);
  }