/joint_states的关节角度保存到成员变量中

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【基于KDL的Baxter机械臂运动学库讲解】 【精准空降到 16:35】

ros2 topic echo /joint_states

---
header:
  stamp:
    sec: 477
    nanosec: 689000000
  frame_id: ''
name:
- left_elbow_joint
- left_wrist_2_joint
- left_wrist_3_joint
- left_robotiq_85_right_knuckle_joint_mimic
- left_robotiq_85_left_inner_knuckle_joint_mimic
- left_robotiq_85_right_inner_knuckle_joint_mimic
- left_shoulder_lift_joint
- left_robotiq_85_left_finger_tip_joint_mimic
- right_robotiq_85_right_finger_tip_joint_mimic
- right_robotiq_85_left_finger_tip_joint_mimic
- left_shoulder_pan_joint
- left_robotiq_85_right_finger_tip_joint_mimic
- right_robotiq_85_right_inner_knuckle_joint_mimic
- right_robotiq_85_left_inner_knuckle_joint_mimic
- left_robotiq_85_left_knuckle_joint
- right_robotiq_85_left_knuckle_joint
- right_robotiq_85_right_knuckle_joint_mimic
- left_wrist_1_joint
- right_wrist_3_joint
- right_wrist_2_joint
- right_wrist_1_joint
- right_elbow_joint
- right_shoulder_lift_joint
- right_shoulder_pan_joint
position:
- 2.228156165492301
- 1.5648670629678687
- 0.5388287087216099
- -0.00010922464187412828
- -0.0001260834085101692
- -0.0001480298136131708
- -2.4417795009165912
- -0.0001167330235789521
- 0.09571316053981249
- -0.09566142864928118
- 1.0743210130800636
- -7.784058406734573e-06
- -0.09545181649480128
- 0.0956559027306394
- -4.329148115100878e-05
- 0.09561496075273102
- -0.09549823505772181
- -0.578888728667579
- 1.2973856974272842
- -1.3992638001215476
- 4.33201129430007
- -2.177777194013364
- -1.5186851101531895
- 0.2584628853233246
velocity:
- -0.0009854505825101535
- -0.2574199978391118
- 0.022805684176503263
- -0.10922464588374364
- -0.10317783998132449
- -0.17093538771861866
- 0.0010848996008640044
- -0.1396385965478501
- 0.23649856325459875
- -0.18476667185543177
- -0.03134452406780707
- 0.021412259774703735
- 0.024845483071405217
- 0.1792407535953721
- -0.043291406954528655
- 0.13829877530127865
- -0.02157307986550857
- 0.011870170312131665
- 0.00949634059924222
- 0.1266468157895329
- 0.0035088492988231326
- 0.01753159318461799
- -0.01950793290401478
- -0.01605553911223838
effort:
- 0.0
- 0.0
- 0.0
- .nan
- .nan
- .nan
- 0.0
- .nan
- .nan
- .nan
- 0.0
- .nan
- .nan
- .nan
- .nan
- .nan
- .nan
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
---