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ROS ( C++) 订阅一个机器人的位置并发布给另外一个机器人作为目标goal
目的:为了实现一种简单的跟随#include "ros/ros.h"#include "geometry_msgs/PoseWithCovarianceStamped.h"#include "geometry_msgs/PoseStamped.h"/** * This tutorial demonstrates simple receipt of messages over the ROS system. */class mySubAndPub{public: mySubAndPu原创 2020-10-30 16:42:09 · 1404 阅读 · 0 评论 -
ROS( C++ )订阅 robot 的 path 话题
订阅这个话题的主要目的是提前判断robot是否接近goal 目标的位置,比起订阅pose的坐标做欧式距离计算更有效#include"ros/ros.h"#include"nav_msgs/Path.h"#include <stdio.h>void PathSub(const nav_msgs::Path& pt){ ROS_INFO("%d",pt.poses.size());}int main(int argc, char **argv){ ros::i原创 2020-10-30 16:40:25 · 760 阅读 · 0 评论 -
ROS仿真-记一次错误 gazebo-2 process has died exit code 2
错误内容如下:[gazebo-2] process has died [pid 1094, exit code 2, cmd/opt/ros/kinetic/lib/gazbo_ros/gzserver -e ode xxxx]在这个错误前两行,有一行bad variable name :/opt/ros/kinetic/lib/gazebo_ros/gzserver:6:export [一堆工作空间] :bad variable name问题定位:就在[一堆工作空间]里,有重复的空间在里面原创 2020-10-14 11:25:25 · 1570 阅读 · 4 评论