创建发布者代码

创建发布者代码（C++）
/**
*该例程发布将发布turtle1/cmd_vel话题，消息类型geometry——msgs::Twist
*/
#include<ros/ros.h>
#include<geometry_msgs/Twist.h>
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<geometry_msgs::Twist>("/turtle1/cmd_vel",10);
//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;
}