创建功能包
cd ~/catkin_ws/src
catkin_create_pkg laser std_msgs roscpp
创建节点
cd ~/catkin_ws/src/laser/src
touch analoglaser.cpp
模拟激光节点cpp
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "laser_scan_publisher");
ros::NodeHandle n;
ros::Publisher scan_pub = n.advertise<sensor_msgs::LaserScan>("scan", 50);
unsigned int num_readings = 1000;
double laser_frequency = 40;
double ranges[num_readings];
double intensities[num_readings];
int count = 5;
ros::Rate r(1.0);
while (n.ok())
{
//generate some fake data for our laser scan
for (unsigned int i = 0; i < num_readings; ++i)
{
ranges[i] = count;
intensities[i] = 100 + count;
}
ros::Time scan_time = ros::Time::now();
//populate the LaserScan message
sensor_msgs::LaserScan scan;
scan.header.stamp = scan_time;
scan.header.frame_id = "base_scan";
scan.angle_min = -1.57;
scan.angle_max = 1.57;
scan.angle_increment = 3.14 / num_readings;
scan.time_increment = (1 / laser_frequency) / (num_readings);
scan.range_min = 0.0;
scan.range_max = 100.0;
scan.ranges.resize(num_readings);
scan.intensities.resize(num_readings);
for (unsigned int i = 0; i < num_readings; ++i)
{
scan.ranges[i] = ranges[i];
scan.intensities[i] = intensities[i];
}
scan_pub.publish(scan);
r.sleep();
}
}
修改CMakeLists.txt
vim ~/catkin_ws/src/laser/CMakeLists.txt
在文件末尾添加如下语句
add_executable(analoglaser src/analoglaser.cpp)
target_link_libraries(analoglaser ${catkin_LIBRARIES})
编译节点
cd ~/catkin_ws
catkin_make
参考资料: