ROS 控制小乌龟按指定路径运动

1. 随机运动

/**********************
 * pubRandVel.cpp
 * Author: Hans
 * Date: 2020-04-01
 * ********************/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <stdlib.h>

int main(int argc, char **argv)
{
   
    ros::init(argc, argv, "publish_random_velocity");
    ros::NodeHandle nh;

    ros::Publisher pub = nh.advertise<geometry_msgs::Twist>
                         ("turtle1/cmd_vel", 1000);

    srand(time(0));

    ros::Rate rate(2);

    while(ros::ok())
    {
   
        geometry_msgs::Twist msg;
        msg.linear.x = double(rand())/double(RAND_MAX);
        msg.angular.z = 2 * double(rand())/double(RAND_MAX) - 1;

        pub.publish(msg);

        ROS_INFO_STREAM("Sending random velocity command: "
                        << "linear = " << msg.linear.x 
                        << " angular = " << msg.angular.z);
        
        rate.sleep();
    }
}

配置 CMakeLists.txt 文件，添加：

add_executable(publish_random_velocity ~/turtle_ws/src/turtle_rand/src/pubRandVel.cpp)
target_link_libraries(publish_random_velocity ${catkin_LIBRARIES})

配置 package.xml 文件：

<?xml version="1.0"?>
<package format="2"