ros机器人的直行

最新推荐文章于 2024-05-29 10:30:31 发布

转载最新推荐文章于 2024-05-29 10:30:31 发布 · 768 阅读

22 篇文章

订阅专栏

#include <ros/ros.h>#include <signal.h>#include <geometry_msgs/Twist.h>ros::Publisher cmdVelPub;void shutdown(int sig){ cmdVelPub.publish(geometry_msgs::Twist());//使机器人停止运动 ROS_INFO("goforward cpp ended!"); ros::shutdown();}int main(int argc, char** argv){ ros::init(argc, argv, "GoForward");//初始化ROS,它允许ROS通过命令行进行名称重映射 std::string topic = "/cmd_vel"; ros::NodeHandle node;//为这个进程的节点创建一个句柄 cmdVelPub = node.advertise<geometry_msgs::Twist>(topic, 1);//告诉master将要在/cmd_vel topic上发布一个geometry_msgs/Twist的消息 ros::Rate loopRate(10);//The desired rate to run at in Hz,ros::Rate对象可以允许你指定自循环的频率 // Override the default ros sigint handler. This must be set after the first NodeHandle is creat signal(SIGINT, shutdown); ROS_INFO("goforward cpp start..."); geometry_msgs::Twist speed; // 控制信号载体 Twist message while (ros::ok()) { speed.linear.x = 0.1; // 设置线速度为0.1m/s，正为前进，负为后退 speed.angular.z = 0; // 设置角速度为0rad/s，正为左转，负为右转 cmdVelPub.publish(speed); // 将刚才设置的指令发送给机器人 loopRate.sleep();//休眠直到一个频率周期的时间 } return 0;}

修改robot_move目录下的CMakeLists.txt

在CMakeLists.txt文件末尾加入几条语句:

add_executable(goforward src/goforward.cpp)
target_link_libraries(goforward ${catkin_LIBRARIES})

add_executable(goincircles src/goincircles.cpp)
target_link_libraries(goincircles ${catkin_LIBRARIES})1
2
3
4
5

整个CMakeLists.txt文件如下：

cmake_minimum_required(VERSION 2.8.3)
project(robot_move)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  tf
  roscpp
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES robot_move
  CATKIN_DEPENDS geometry_msgs roscpp
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(goforward src/goforward.cpp)
target_link_libraries(goforward ${catkin_LIBRARIES})

add_executable(goincircles src/goincircles.cpp)
target_link_libraries(goincircles ${catkin_LIBRARIES})

启动机器人

若是运行仿真机器人

   roslaunch aicroboxi_bringup fake_aicroboxi.launch1

若是运行真实的机器人平台

   roslaunch aicroboxi_bringup minimal.launch1

启动 rviz 图形化显示程序，如图1

   roslaunch aicroboxi_rviz view_mobile.launch1

RVIZ1