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创建功能包 cd ~/catkin_workspace/src catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim 编写程序 nano ~/catkin_workspace/src/learning_topic/src/velocity_publisher.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************/ /** * 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist */ #include #include int main(int argc, char **argv) { // ROS节点初始化 ros::init(argc, argv, "velocity_publisher"); // 创建节点句柄 ros::NodeHandle n; // 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10 ros::Publisher turtle_vel_pub = n.advertise // 设置循环的频率 ros::Rate loop_rate(10); int count = 0; while (ros::ok()) { // 初始化geometry_msgs::Twist类型的消息 geometry_msgs::Twist vel_msg; vel_msg.linear.x = 0.5; vel_msg.angular.z = 0.2; // 发布消息 turtle_vel_pub.publish(vel_msg); ROS_INFO("Publish turtle velocity command[%0.2f m/s, %0.2f rad/s]", vel_msg.linear.x, vel_msg.angular.z); // 按照循环频率延时 loop_rate.sleep(); } return 0; } 配置CMakeLists.txt nano ~/catkin_workspace/src/learning_topic/CMakeLists.txt 在Build内,Install前加入 add_executable(velocity_publisher src/velocity_publisher.cpp) target_link_libraries(velocity_publisher ${catkin_LIBRARIES}) 设置需要编译的代码和生成的可执行文件; 设置链接库; 编译并运行发布者 cd ~/catkin_workspace catkin_make # 新建一个终端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic velocity_publisher # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rqt_graph python 创建并编写脚本 cd ~/catkin_workspace/src/learning_topic mkdir scripts cd ~/catkin_workspace/src/learning_topic/scripts nano velocity_publisher.py #!/usr/bin/env python # -*- coding: utf-8 -*- ######################################################################## #### Copyright 2020 GuYueHome (www.guyuehome.com). ### ######################################################################## # 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist import rospy from geometry_msgs.msg import Twist def velocity_publisher(): # ROS节点初始化 rospy.init_node('velocity_publisher', anonymous=True) # 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10 turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10) #设置循环的频率 rate = rospy.Rate(10) while not rospy.is_shutdown(): # 初始化geometry_msgs::Twist类型的消息 vel_msg = Twist() vel_msg.linear.x = 0.5 vel_msg.angular.z = 0.2 # 发布消息 turtle_vel_pub.publish(vel_msg) rospy.loginfo("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]", vel_msg.linear.x, vel_msg.angular.z) # 按照循环频率延时 rate.sleep() if __name__ == '__main__': try: velocity_publisher() except rospy.ROSInterruptException: pass 运行 sudo chmod +x ~/catkin_workspace/src/learning_topic/scripts/velocity_publisher.py # 新建一个终端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic velocity_publisher.py # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rqt_graph |
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