用ROS遇到的一些问题

原本是想用ROS控制机械臂,后来突发奇想,想通过rand函数产生随机数,来让机械臂随便动,于是写了如下一小段

#include <ros/ros.h> //可以发送轨迹的
#include <trajectory_msgs/JointTrajectory.h> 
#include "ros/time.h" 
#include <stdlib.h>

ros::Publisher arm_pub; 

int main(int argc, char** argv) 
{ 

  int y,z;
  ros::init(argc, argv, "talker"); 
  ros::NodeHandle n; 
  arm_pub = n.advertise<trajectory_msgs::JointTrajectory>("joint_path_command",1000); 
  ros::Rate loop_rate(10); 

  trajectory_msgs::JointTrajectory traj; 
  trajectory_msgs::JointTrajectoryPoint points_n; 

  traj.header.frame_id = "base_link"; 
  traj.joint_names.resize(6); 
  y=6;
  traj.points.resize(y); 

  
  for(z=0;z<y;z++)
  {
    traj.points[z].positions.resize(6);
    traj.points[z].velocities.resize(6);//-----

  }
  traj.joint_names[0] ="joint_1"; 
  traj.joint_names[1] ="joint_2"; 
  traj.joint_names[2] ="joint_3"; 
  traj.joint_names[3] ="joint_4";
  traj.joint_names[4] ="joint_5";
  traj.joint_names[5] ="joint_6";


  //int i(100);
  int i=1;
  int j=0; 
  double k;
  double times=3.6;


  while(ros::ok()&&i<5)//???? 
  { 


    traj.header.stamp = ros::Time::now(); 

                          //k=-0.5;
    for(j=0; j<6; j++)
    { 
      traj.points[0].positions[j] = rand()/double(RAND_MAX)*2-1;//(i/5)%5;
    }
    traj.points[0].time_from_start = ros::Duration(times+0.1);//1 second

  
    for(j=0; j<6; j++)
    { 
      traj.points[1].positions[j] = rand()/double(RAND_MAX)*2-1;
    }
    traj.points[1].time_from_start = ros::Duration(times+0.2);//1 second

    for(j=0; j<6; j++)
    { 
      traj.points[2].positions[j]=rand()/double(RAND_MAX)*2-1;
    }
    traj.points[2].time_from_start = ros::Duration(times+0.3);//1 second

    for(j=0; j<6; j++)
    { 
      traj.points[3].positions[j]=rand()/double(RAND_MAX)*2-1;
    }
    traj.points[3].time_from_start = ros::Duration(times+0.4);

    for(j=0; j<6; j++)
    { 
      traj.points[4].positions[j]=rand()/double(RAND_MAX)*2-1;
    }
    traj.points[4].time_from_start = ros::Duration(times+0.5);

    for(j=0; j<6; j++)
    { 
      traj.points[5].positions[j]=rand()/double(RAND_MAX)*2-1;
    }
    traj.points[5].time_from_start = ros::Duration(times+0.6);


    arm_pub.publish(traj); 
    ros::spinOnce(); 
    loop_rate.sleep();
    i++; 
  } 
  return 0;

} 

一段极不规范的C++代码,勉强能让机器动起来.

然而在我编译完(catkin_make)一次之后,每次rosrun这个cpp,得到的轨迹都是一样的,是不是编译完之后,每个rand随机的结果就确定了,不会改变了呢?

但我的目标也的确不是让机械臂随便动(这没有意义),所以我也不会再考虑这个问题了.

while(ros::ok()&&i<5)//???? 

这个是我最近想的问题,为什么那个数大于5才能让机器动起来.

再思考吧