创建功能包
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
velocity_publisher.cpp
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 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
ros::init(argc, argv, "velocity_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 设置循环的频率
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
// 初始化geometry_msgs::Twist类型的消息
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
// 发布消息
turtle_vel_pub.publish(vel_msg);
ROS_INFO("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]",
vel_msg.linear.x, vel_msg.angular.z);
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
CMakeLists.txt:
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
运行
rosrun turtlesim turtlesim_node
rosrun learning_topic velocity_publisher
velocity_publisher.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
########################################################################
# 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist
import rospy
from geometry_msgs.msg import Twist
def velocity_publisher():
# ROS节点初始化
rospy.init_node('velocity_publisher', anonymous=True)
# 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
#设置循环的频率
rate = rospy.Rate(10)
while not rospy.is_shutdown():
# 初始化geometry_msgs::Twist类型的消息
vel_msg = Twist()
vel_msg.linear.x = 0.5
vel_msg.angular.z = 0.2
# 发布消息
turtle_vel_pub.publish(vel_msg)
rospy.loginfo("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]",
vel_msg.linear.x, vel_msg.angular.z)
# 按照循环频率延时
rate.sleep()
if __name__ == '__main__':
try:
velocity_publisher()
except rospy.ROSInterruptException:
pass