scr文件下创建tur_node文件,添加代码:
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Pose.h>
const double PI = 3.14159265359;
// 回调函数,用于获取小乌龟的位置
void poseCallback(const turtlesim::PoseConstPtr& pose_msg)
{
// 获取小乌龟的坐标
double x = pose_msg->x;
double y = pose_msg->y;
ROS_INFO("Turtle Pose: x = %f, y = %f", x, y);
}
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "tur_node");
ros::NodeHandle nh;
// 创建一个Publisher,用于发布速度控制指令
ros::Publisher velocity_pub = nh.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 10);
// 创建一个Subscriber,用于接收小乌龟的位置信息
ros::Subscriber pose_sub = nh.subscribe("turtle1/pose", 10, poseCallback);
//