1.在src目录下创建一个learning_topic功能包:
catkin_create_pkg learning_topic roscpp rospy std_msgs turtlesim
2.在learning_topic–>src 中新建velocity_publisher.cpp
在velocity_publisher.cpp中添加如下代码
/**
*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;
}
3.配置CMakeLists,txt中的编译规则
(需要配置的文件位置catkin_ws/src/learning_topic)
- 设置需要编译的代码和生成的可执行文件
- 设置链接库
在
###########
## Build ##
###########
目录下添加如下代码:
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
4.编译工程:
catkin_make
source devel/setup.bash
或者配置环境变量:
/home下 Ctrl+h 显示文件.bashrc,添加
source /home/gc/catkin_ws/devel/setup.bash
路径需要根据自己的机子修改。
5.运行如下指令:
reocore
rosrun turtlesim turtlesim_node
rosrun learning_topic velocity_publisher