ROS入门:小海龟实验

1.初试小海龟



　　1.roscore

　　2.rosrun turtlesim turtlesim_node

　　3.rosrun turtlesim turtle_teleop_key

2.发布话题控制小海龟

1.创建功能包

catkin_create_pkg turtle_control geometry_msgs rospy roscpp

2.编写turtle_control.cpp



#include "ros/ros.h"

#include "geometry_msgs/Twist.h"

int main(int argc, char** argv)

{

ros::init(argc,argv,"turtle_control_node");

ros::NodeHandle nh;

ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",1000);

ros::Rate loop_rate(10);

geometry_msgs::Twist pub_date;

while( ros::ok() )

{

pub_date.linear.x = 0.5;

pub_date.linear.y = 0.0;

pub_date.linear.z = 0.0;

pub_date.angular.x = 0;

pub_date.angular.y = 0;

pub_date.angular.z = 0;

pub.publish(pub_date);

ros::spinOnce();

loop_rate.sleep();

}

return 0;

}

3.package.xml主要依赖



<buildtool_depend>catkin</buildtool_depend>

<build_depend>roscpp</build_depend>

<build_depend>rospy</build_depend>

<build_depend>geometry_msg</build_depend>

<build_export_depend>roscpp</build_export_depend>

<build_export_depend>rospy</build_export_depend>

<build_export_depend>geometry_msg</build_export_depend>

<exec_depend>roscpp</exec_depend>

<exec_depend>rospy</exec_depend>

<exec_depend>geometry_msg</exec_depend>

4.修改CMakeLists.txt



find_package(catkin REQUIRED COMPONENTS

  roscpp

  rospy

  geometry_msgs

)

include_directories(

  ${catkin_INCLUDE_DIRS}

)

add_executable(${PROJECT_NAME}_node

    ${PROJECT_NAME}_node.cpp

)

target_link_libraries(${PROJECT_NAME}_node

   ${catkin_LIBRARIES}

 )

巴特西

ROS入门:小海龟实验

1.初试小海龟

2.发布话题控制小海龟

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