让机器人声源追踪并回到原点（二）原地转圈部分源码

  void callback1(const std_msgs::Float64::ConstPtr& msg1)  
  {
    ROS_INFO("I heard the angle: [%f]", msg1->data);

    angel = msg1->data;
    angel=angel+5;
    
    if (0<=angel<=180)    
     angel2 = (angel/360)*3.1415926;
    else
                 { angel=angel-360;
       angel2 = (angel/360)*3.1415926;}

    MoveBaseClient ac1("move_base", true)；
    while(!ac1.waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the move_base action server to come up");
    }
     move_base_msgs::MoveBaseGoal goal1;
  
    //在base_link坐标基础上旋转
    goal1.target_pose.header.frame_id = "base_link";

   //时间戳设置为now
    goal1.target_pose.header.stamp = ros::Time::now();
     
    //四元数，x,y取0，表示围绕z轴旋转
    goal1.targe