这节主要想给刚入门的小伙伴学习在ROS下,怎么用C++写第一个hello_world代码!
1.创建ROS功能包的命令如下($ cd ~/catkin_ws/src ):
$ catkin_create_pkg [功能包名称] [依赖功能包1] [依赖功能包n]
2.创建如下:
$ catkin_create_pkg my_first_ros_pkg std_msgs roscpp
3.根据源文件名称(my_first_ros_pkg.cpp)修改一下 构建配置文件(CMakeLists.txt)就OK啦,源文件程序如下
#include<ros/ros.h> %这是ros的头文件
#include<std_msgs/String.h>
#include<sstream>
int main(int argc, char** argv)
{
ros::init(argc,argv,"hello_world_node");
ros::NodeHandle nh;
ros::Publisher chatter_pub=nh.advertise<std_msgs::String>("say_hello_world",1000);
ros::Rate loop_rate(10);
int count=0;
while(ros::ok()){
std_msgs::String msg;
std::stringstream ss;
ss << "hello_world!" <<count;
msg.data=ss.str();
ROS_INFO("%s",msg.data.c_str());
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}