Always specify topic and position in sender-stub.

ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/Main.java

@@ -7,34 +7,21 @@ import java.util.concurrent.TimeUnit;
 
 public class Main {
   public static void main(String[] args) throws Exception {
-    final String topic;
-    final byte[] message;
-
-    if (args.length < 1) {
-      topic = "robot/joint1";
-    } else {
-      topic = args[0];
+    // assume 4 arguments
+    if (args.length < 4) {
+      System.err.println("Sends a new position, expected arguments: topic x y z");
+      return;
     }
-
-    if (args.length < 2) {
+    final String topic = args[0];
     Linkstate.PandaLinkState pls = Linkstate.PandaLinkState.newBuilder()
-          .setName("Joint1")
+        .setName(args[0])
         .setPos(Linkstate.PandaLinkState.Position.newBuilder()
-              .setPositionX(0.5f)
-              .setPositionY(0.5f)
-              .setPositionZ(0.5f)
-              .build())
-          .setOrient(Linkstate.PandaLinkState.Orientation.newBuilder()
-              .setOrientationX(0)
-              .setOrientationY(0)
-              .setOrientationZ(0)
-              .setOrientationW(0)
+            .setPositionX(Float.parseFloat(args[1]))
+            .setPositionY(Float.parseFloat(args[2]))
+            .setPositionZ(Float.parseFloat(args[3]))
             .build())
         .build();
-      message = pls.toByteArray();
-    } else {
-      message = args[1].getBytes();
-    }
+    final byte[] message = pls.toByteArray();
 
     MqttUpdater sender = new MqttUpdater("sender stub").dontSendWelcomeMessage();
     sender.setHost("localhost", 1883);