ROS学习

（1）Moveit

sudo apt-get install ros-kinetic-moveit

ROS探索总结（二十五）——MoveIt基础 http://www.guyuehome.com/435

(2)service

监听键盘输入并发布
sudo apt-get install ros-kinetic-teleop-twist-keyboard
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=robot0/cmd_vel

service.demo注意事项

创建一个srv文件夹，进入后创建.srv文件
.srv文件中数据类型要指定位数,如

int32 age
float32 x
---
string feedback

只写int, float会报错，Could not find messages which XX.srv’ depends on.
Cmakelist.txt需要修改的地方
1、find_package添加message_generation

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  std_msgs
  message_generation
)

2、添加.srv文件

#Generate services in the 'srv' folder
add_service_files(
  FILES
  setHsvColor.srv
)

3、添加.srv所需要的依赖，一般不需要加

 #Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
 )

package.xml添加：

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

是exec_depend还是run_depend看文件中其它部分是怎么写的

完成后回到catkin_ws目录下catkin_make
编译成功devel中会生成头文件