正在进行ing
书里的程序,海龟随机生成速度,这个不是原创
#include<ros/ros.h> //使用ROS都得包含这个头文件
#include<geometry_msgs/Twist.h> //ROS 消息类型是Twist
#include<stdlib.h> //产生随机数
int main (int argc, char**argv)
{
ros::init(argc,argv,"pubturtle"); //程序初始化ros pubturtle节点名
ros::NodeHandle nn;
ros::Publisher pub=nn.advertise<geometry_msgs::Twist>("turtle1/cmd_vel",10);
srand(time(0));
ros::Rate rate(2);
int count=0;
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("lj是我"
<<"linear="<<msg.linear.x
<<"angular="<<msg.angular.z);
rate.sleep();
}
}