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function sysCall_init()
        
    -- Get some handles:
    joint=sim.getObjectHandle('Joint')
    
    -- Enable an image publisher and subscriber:
    sub=simROS.subscribe('/joint_topic', 'std_msgs/Float64', 'joint_callback')
    simROS.subscriberTreatUInt8ArrayAsString(sub) -- treat uint8 arrays as strings (much faster, tables/arrays are kind of slow in Lua)
   
end


function joint_callback(msg)
    -- Apply the received image to the passive vision sensor that acts as an image container
    print(msg.data)
    --sim.setJointTargetVelocity(joint,msg.data)
    sim.setJointPosition(joint,(math.pi/180) *msg.data)
end


function sysCall_cleanup()
    simROS.shutdownSubscriber(sub)
end