在RIVZ下，利用程序让自己的joint动起来

在从soliderwork中导出的urdf模型，关节点可以在joint_state_publisher_gui 中随着滑块拖动，但是小白如何通过一个程序让它动起来呢。再强调一遍！所有的前提是你能够让它能够随着滑块滑动。
也就意味着你的XXXX_ws文件夹是完好的，在你soliderwork导出的模型文件夹下新建一个src文件夹，接着新建一个helloword_c.cpp 文件。其中我导出的文件名为dlj111。
如图

把cmakeList.txt文件内容修改为如下，记住把我的dlj111替换成你自己的名字。

cmake_minimum_required(VERSION 2.8.3)

project(dlj111)



catkin_package()

find_package(roslaunch)

foreach(dir config launch meshes urdf)
	install(DIRECTORY ${dir}/
		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)  

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES hellow
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/hellow.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
 add_executable(helloword src/helloword_c.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
 target_link_libraries(helloword
   ${catkin_LIBRARIES}
 )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hellow.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

在helloword_c文件里，放入以下代码，这里是别人写的代码。原文链接

#include<iostream>
#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <robot_state_publisher/robot_state_publisher.h>
using namespace std;

int main(int argc, char** argv)
 {
    ros::init(argc, argv, "state_1_publisher"); //节点的名称
    ros::NodeHandle n;
    ros::Publisher joint_pub = n.advertise<sensor_msgs::JointState>("joint_states", 1);    //设置一个发布者，将消息发布出去,发布到相应的节点中去
    ros::Rate loop_rate(10);    //这个设置的太大，效果很不好，目前觉得为10最好了
    const double degree = M_PI/180;
    const double radius = 2;
    int i=-69;

    // robot state
    double angle= 0;

    // message declarations
    sensor_msgs::JointState joint_state;
  //  for(int j=0;j<6;++j)
   // {
        //joint_state.velocity.push_back(1);
        //joint_state.effort.push_back(200);
    //}
    while (ros::ok()) {
        //update joint_state
        joint_state.header.stamp = ros::Time::now();
        joint_state.name.resize(4);//修改自己的joint个数
        joint_state.position.resize(4);//修改自己的joint个数
	    joint_state.name[0]="diche_joint";//修改为自己的joint名
        joint_state.position[0] = i*degree;
	    joint_state.name[1] ="zhuangzhou_joint";//修改为自己的joint名
        joint_state.position[1] = i*degree;
	    joint_state.name[2] ="dabi_joint";//修改为自己的joint名
        joint_state.position[2] = i*degree;
        joint_state.name[3] ="doulun_joint";//修改为自己的joint名
        joint_state.position[3] = i*degree;
        if(i<=70)
            i++;
        else 
            i=-69; 
        //send the joint state and transform
        joint_pub.publish(joint_state);
        // This will adjust as needed per iteration
        loop_rate.sleep();
    }
    return 0;
}

在display.launch文件中，替换以下内容

<launch>
  <arg
    name="model" />
  <param
    name="robot_description"
    textfile="$(find dlj111)/urdf/dlj111.urdf" />

  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="robot_state_publisher" />
  <node pkg="dlj111" type="helloword" name="hello" output="screen" />
  <node
    name="rviz"
    pkg="rviz"
    type="rviz"
    args="-d $(find dlj111)/urdf.rviz" />
</launch>

然后执行

roslaunch dlj111 display.launch

就发现你的模型动起来啦。