ros_小海龟

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc,char **argv)
{       //ros初始化   
	ros::init(argc,argv,"velocity_publisher");
	ros::NodeHandle n;
	ros::Publisher turtler_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10);
  	ros::Rate loop_rate(10);
	int count = 0;
	while(ros::ok())
	{
		geometry_msgs::Twist vel_msg;
		vel_msg.linear.x = 0.5;
		vel_msg.angular.z = 0.2;
	//发布消息
	turtler_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);
	loop_rate.sleep();
	}
	return 0;
	
}

实现一个发布者

1、初始化ROS节点
2、向ROS Master 注册节点信息
包括了发布的话题名和消息类型
3、创建消息数据
4、按照一定的频率循环发布消息