汽车商城网站建设,河南最新消息,旧域名找新域名的方法,网站建设及推广方案ppt模板目录如何实现一个发布者C创建功能包编写程序配置CMakeLists.txt编译并运行发布者python创建并编写脚本运行平台#xff1a;华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本#xff1a;Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 记录自【古月居】古月ROS入门21讲 | 一学…
目录如何实现一个发布者C创建功能包编写程序配置CMakeLists.txt编译并运行发布者python创建并编写脚本运行平台华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 记录自【古月居】古月·ROS入门21讲 | 一学就会的ROS机器人入门教程 —— 古月居GYH P10 10.发布者Publisher的编程实现
如何实现一个发布者
初始化ROS节点向ROS Master注册节点信息包括发布的话题名和话题中的消息类型创建消息数据按照一定频率循环发布消息。
C
创建功能包
cd ~/catkin_workspace/src
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim编写程序
nano ~/catkin_workspace/src/learning_topic/src/velocity_publisher.cpp/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************//*** 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.hint 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10ros::Publisher turtle_vel_pub n.advertisegeometry_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(Publish 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;
}配置CMakeLists.txt
nano ~/catkin_workspace/src/learning_topic/CMakeLists.txt在Build内Install前加入
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})设置需要编译的代码和生成的可执行文件 设置链接库
编译并运行发布者
cd ~/catkin_workspace
catkin_make# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic velocity_publisher# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rqt_graphpython
创建并编写脚本
cd ~/catkin_workspace/src/learning_topic
mkdir scripts
cd ~/catkin_workspace/src/learning_topic/scripts
nano velocity_publisher.py#!/usr/bin/env python
# -*- coding: utf-8 -*-########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
######################################################################### 该例程将发布turtle1/cmd_vel话题消息类型geometry_msgs::Twistimport rospy
from geometry_msgs.msg import Twistdef velocity_publisher():# ROS节点初始化rospy.init_node(velocity_publisher, anonymousTrue)# 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10turtle_vel_pub rospy.Publisher(/turtle1/cmd_vel, Twist, queue_size10)#设置循环的频率rate rospy.Rate(10) while not rospy.is_shutdown():# 初始化geometry_msgs::Twist类型的消息vel_msg Twist()vel_msg.linear.x 0.5vel_msg.angular.z 0.2# 发布消息turtle_vel_pub.publish(vel_msg)rospy.loginfo(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rate.sleep()if __name__ __main__:try:velocity_publisher()except rospy.ROSInterruptException:pass运行
sudo chmod x ~/catkin_workspace/src/learning_topic/scripts/velocity_publisher.py# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic velocity_publisher.py# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rqt_graph
