最简单的hello world基于 Groovy 和 Ubuntu 12.04 LTS.
step 1 creat package
step 1 creat package
catkin_create_pkg hello std_msgs roscpp rospy
step 2 modify CMakeLists.txt-only 2 places
add_executable(hello src/hello.cpp)
target_link_libraries(hello
${catkin_LIBRARIES}
)
step 3 using ROS_INFO print the message in the hello.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
using namespace ros;
int main(int argc, char **argv)
{
ros::Time::init();
ros::init(argc, argv, "hello");
ros::Rate loop_rate(10);
while (ros::ok())
{
ROS_INFO("%s", "hello world !");
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
源码下载地址:
http://download.csdn.net/detail/ziqian0512/9455504