题目
创建一个工作空间和功能包,然后在功能包中完成如下工作,并且使用launch文件启动涉及的节点;话题与服务编程:通过代码新生一只海龟,放置在(5, 5)点,命名为“turtle2” ;通过代码订阅turtle2的实时位置并在终端打印;控制turtle2实现旋转运动;
1.进入工作区间
cd catkin_ws/src/
2.新建一个工程包
catkin_create_pkg lesson2_homework std_msgs rospy roscpp
3.进入包内的src文件夹新建一个cpp
cd lesson2_homework/src/
vi turtle_control.cpp
粘贴以下代码:
#include <ros/ros.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Pose.h>
ros::Publisher turtle_vel;
void poseCallback(const turtlesim::PoseConstPtr& msg)
{
ROS_INFO("Turtle2 position:(%f %f)",msg->x,msg->y);
}
int main(int argc,char** argv)
{
//初始化节点
ros::init(argc,argv,"turtle_control");
ros::NodeHandle node;
//通过服务调用,产生第二只乌龟turtle2
ros::service::waitForService("spawn");
ros::ServiceClient add_turtle=node.serviceClient<turtlesim::Spawn>("spawn");
turtlesim::Spawn srv;
srv.request.x=5;
srv.request.y=5;
srv.request.name="turtle2";
add_turtle.call(srv);
ROS_INFO("The turtle2 has been spawn!");
//订阅乌龟的pose信息
ros::Subscriber sub=node.subscribe("turtle2/pose",10,&poseCallback);
//定义turtle的速度控制发布器
turtle_vel=node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel",10);
ros::Rate rate(10.0);
while(node.ok())
{
//发布速度控制命令
geometry_msgs::Twist vel_msg;
vel_msg.angular.z=1;
vel_msg.linear.x=1;
turtle_vel.publish(vel_msg);
ros::spinOnce();
rate.sleep();
}
return 0;
}
4.回到上层目录,修改Cmakelist.txt
cd ../
gedit Cmakelist.txt
文本最末未添加:
add_executable(turtle_control src/turtle_control.cpp)
target_link_libraries(turtle_control ${catkin_LIBRARIES})
5.新建launch文件夹,进入文件夹,新建turtle_control.launch
mkdir launch
cd launch/
vi turtle_control.launch
添加以下代码:
<launch>
<node pkg="turtlesim" type="turtlesim_node" name="turtlesim_node"/>
<node pkg="lesson2_homework" type="turtle_control" name="turtle_control" output="screen"/>
</launch>
6.回到工作区间,编译
cd ~/catkin_ws
catkin_make
7.新建终端,启动ros核心程序
roscore
8.注册程序
cd catkin_ws/
source ./devel/setup.bash
9.运行程序
rosrun lesson2_homework turtle_control
10.新建终端,启动结点
rosrun turtlesim turtlesim_node
11.出现一个小海龟不停的转圈,并且在之前运行程序的终端上会
不停的打印小海龟的位置
参考链接:https://blog.csdn.net/sanyiji/article/details/104715216/