ROS
ROS系统
海洋2416
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ROS OccupancyGrid
自定义OccupancyGrid//// Created by hhy on 2021/9/28.//#include <nav_msgs/OccupancyGrid.h>#include <ros/ros.h>#define W 10#define H 10int main(int argc, char **argv) { // 初始化ROS节点 节点名字 ros::init(argc, argv, "mappublish"); // 节点句柄原创 2021-09-29 10:32:33 · 483 阅读 · 0 评论 -
ROS 2D Pose Estimate,2D Nav Goal
//// Created by hhy on 2021/9/29.//#include <geometry_msgs/PoseStamped.h>#include <geometry_msgs/PoseWithCovarianceStamped.h>#include <ros/ros.h>// PoseWithCovarianceStampedvoid GetPoseEstimate( const geometry_msgs::PoseWith.原创 2021-09-29 09:51:28 · 1435 阅读 · 0 评论 -
ROS Marker
uint8 ARROW=0//箭头uint8 CUBE=1//立方体uint8 SPHERE=2//球uint8 CYLINDER=3//圆柱体uint8 LINE_STRIP=4//线条(点的连线)uint8 LINE_LIST=5//线条序列uint8 CUBE_LIST=6//立方体序列uint8 SPHERE_LIST=7//球序列uint8 POINTS=8//点集uint8 TEXT_VIEW_FACING=9//显示3D的文字uint8 MESH_RESOURCE=10/.原创 2021-09-28 18:05:36 · 610 阅读 · 0 评论 -
ROS Parameter
//// Created by hhy on 2021/9/28.///** * 该例程设置/读取海龟例程中的参数 */#include <ros/ros.h>#include <std_srvs/Empty.h>#include <string>int main(int argc, char **argv) { int red, green, blue; // ROS节点初始化 ros::init(argc, argv, "paramet原创 2021-09-28 16:20:50 · 191 阅读 · 0 评论 -
ROS Service
person_server.cpp//// Created by hhy on 2021/9/28.///** * 该例程将执行/show_person服务,服务数据类型learning_service::Person */#include "test_service/Person.h"#include <ros/ros.h>// service回调函数,输入参数req,输出参数resbool personCallback(test_service::Person::.原创 2021-09-28 14:45:09 · 144 阅读 · 0 评论 -
ROS PointCloud
name表示不同的表示方式,可以是像素值,亮度等。values则是典型的依赖于传感器的亮度值返回,表示测量的质量,可以是灰度图像的灰度值,也可以是类似laserscan的强度。//// Created by hhy on 2021/9/28.//#include <ros/ros.h>#include <sensor_msgs/PointCloud.h>int main(int argc, char **argv) { ros::init(argc, arg..原创 2021-09-28 14:16:45 · 553 阅读 · 0 评论 -
ROS LaserScan
/* angle-min:开始扫描的角度 angle-max:结束扫描的角度 angle-increment:每次扫描增加的角度 time-increment: 测量的时间间隔 scan-time :扫描的时间间隔 range-min:测距的最小值 range-max:测距的最大值 ranges:转一周的测量数据一共360个 intensities:与设备有关,强度数组长度360 ...原创 2021-09-28 13:57:35 · 374 阅读 · 0 评论 -
ROS 使用OpenCV读取图像并发布
image_publisher.cpp//// Created by hhy on 2021/9/28.//#include <cv_bridge/cv_bridge.h>#include <image_transport/image_transport.h>#include <opencv2/highgui/highgui.hpp>#include <opencv2/imgproc/imgproc.hpp>#include <ros.原创 2021-09-28 11:33:03 · 1898 阅读 · 0 评论 -
ROS 自定义点云
#include <pcl/point_cloud.h>#include <pcl_conversions/pcl_conversions.h>#include <ros/ros.h>#include <sensor_msgs/PointCloud2.h>int main(int argc, char **argv) { ros::init(argc, argv, "test_point"); ros::NodeHandle nh; r原创 2021-09-28 02:07:34 · 336 阅读 · 0 评论 -
ROS教程入门
ROS命令行工具的使用创建工作空间与功能包发布者Publisher的编程实现velocity_publisher.cpp/** * 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist */#include <ros/ros.h>#include <geometry_msgs/Twist.h>int main(int argc, char **argv) { // ROS节点初始化原创 2021-09-26 14:37:42 · 112 阅读 · 0 评论 -
ROS安装
ROS安装在ubuntu18.04上安装ros\安装准备sudo apt-get updatesudo apt-get upgrade添加ROS的镜像源sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'配置密钥sudo a原创 2021-02-02 21:13:35 · 249 阅读 · 0 评论 -
ROS添加自定义消息
ROS添加自定义消息创建文件夹msg,和scripts,src同级目录创建文件gps.msg,并写入float32 lngfloat32 lat在package.xml文件中添加 <build_depend>message_generation</build_depend> <exec_depend>message_runtime</exec_depend>在CMakeList.txt文件中找到find_package 添加原创 2020-11-20 13:04:56 · 561 阅读 · 0 评论