ROS⼊门：⼩海龟实验1.初试⼩海龟
2.rosrun turtlesim turtlesim_node
3.rosrun turtlesim turtle_teleop_key
2.发布话题控制⼩海龟
商务英语写作
1.创建功能包
festival怎么读catkin_create_pkg turtle_control geometry_msgs rospy roscpp
2.编写turtle_control.cpp
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
int main(int argc, char** argv)
{
ros::init(argc,argv,"turtle_control_node");
ros::NodeHandle nh;
ros::Publisher pub = nh.adverti<geometry_msgs::Twist>("/turtle1/cmd_vel",1000);
ros::Rate loop_rate(10);southampton
geometry_msgs::Twist pub_date;
while( ros::ok() )
{
pub_date.linear.x = 0.5;
pub_date.linear.y = 0.0;惊喜的英语
pub_date.linear.z = 0.0;
tfo
pub_date.angular.x = 0;
on your markpub_date.angular.y = 0;
pub_date.angular.z = 0;
pub.publish(pub_date);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
l主要依赖
<buildtool_depend>catkin</buildtool_depend>
树童英语怎么样<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>geometry_msg</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>geometry_msg</build_export_depend>
nuts是什么意思英语<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>geometry_msg</exec_depend>
4.修改
全球化英文find_package(catkin REQUIRED COMPONENTS roscpp
rospy
geometry_msgs
)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(${PROJECT_NAME}_node
${PROJECT_NAME}_node.cpp
)西安注册会计师培训
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES}
)
