本帖参考: https://blog.youkuaiyun.com/u014587147/article/details/75673110
https://blog.youkuaiyun.com/u014695839/article/details/78348600
本帖使用遥控手柄控制小乌龟移动,代码本质是写一个node接受来自于joy的消息并将消息转发给turtlesim_node节点。包里只有一个cpp文件和一个launch文件。
cpp文件源码如下:
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <geometry_msgs/Twist.h>
class class_js
{
public:
class_js();
private:
ros::NodeHandle n_;
ros::Publisher pub_;
ros::Subscriber sub_;
void SubCallback(const sensor_msgs::Joy::ConstPtr& Joy);
geometry_msgs::Twist vel_cmd;
double vlinear,vangular;//我们控制乌龟的速度,是通过这两个变量调整
int axis_ang,axis_lin; //axes[]的键
};
class_js::class_js()
{
sub_ = n_.subscribe("/joy", 10, &class_js::SubCallback, this);
pub_ = n_.advertise<geometry_msgs