一、引言:在某些场景下,需要使用Gazebo场景发布话题数据来模拟真实的数据源,此处仅简单设置发布ROS话题数据,按照预定的频率
#include <gazebo/gazebo.hh>
#include <ros/ros.h>
#include <std_msgs/String.h>
namespace gazebo
{
class ROSPublisherPlugin : public WorldPlugin
{
public:
void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override
{
// Initialize ROS node
ros::NodeHandle nh;
// Create a ROS publisher
pub = nh.advertise<std_msgs::String>("gazebo_topic", 10);
// Create a Gazebo update event connection
this->updateConnection = event::Events::ConnectWorldUpdateBegin(
std::bind(&ROSPublisherPlugin::OnUpdate, this));
}
void OnUpdate()
{
if ((ros::Time::now() - lastPubTime)>= ros::Duration(0.1))
{
std_msgs::String msg;
msg.data = "Hello, world";
pub.publish(msg);
lastPubTime = ros::Time::now();
}
}
private:
ros::Publisher pub;
ros::Time lastPubTime;
event::ConnectionPtr updateConnection;
};
GZ_REGISTER_WORLD_PLUGIN(ROSPublisherPlugin)
} // namespace gazebo
注:此处通过时间判断进行循环发布
void OnUpdate()
{
if ((ros::Time::now() - lastPubTime)>= ros::Duration(0.1))
{
std_msgs::String msg;
msg.data = "Hello, world";
pub.publish(msg);
lastPubTime = ros::Time::now();
}
}