ROS学习笔记publisher的编程实现c++详解

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前言

基于B站ROS公开课：【古月居】古月·ROS入门21讲
基于Ubuntu 20.04.1、Noetic版本

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提示：以下是本篇文章正文内容，下面案例可供参考

一、ros publisher C++

代码如下（示例）：

#include <ros/ros.h>

#include <geometry_msgs/Twist.h>

int main(int argc, char **argv)

{

//ros setup

ros::init(argc, argv, "velocity_publisher");

//creat ros nodehandle name:ns

ros::NodeHandle ns;

//creat publisher turtle_vel_pub and viod a topic /turtle1/cmd_vel line 10

ros::Publisher turtle_vel_pub = ns.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);

//set loop rate 10hz

ros::Rate loop_rate(10);

int count = 0;

while (ros::ok())

{

//geometry_msg::Twist setup

geometry_msgs::Twist vel_msg;<