ROS入门-启动

1. 项目地址

https://github.com/LittleMatcher/as_ws_2024

2. 流程

第一步创建工作空间

$ mkdir -p ~/as_ws/src #ROS三步走，这里的地址可以修改
$ cd ~/as_ws/
$ catkin init

第二步克隆项目

$ git clone https://github.com/LittleMatcher/as_ws_2024.git

第三步编译

$ catkin build
$ source devel/setup.bash

第四步运行

$ roslaunch <project> <launch file>
$ roslaunch two_drones_pkg two_drones.launch static:=True #static的作用取决于launch文件

3. 主要代码

frames_publisher_node.cpp

	// 2. Populate the two transforms for the AVs, using the variable "time"
    //    computed above. Specifically:
    //     - AV1World should have origin in [cos(time), sin(time), 0.0] and
    //       rotation such that:
    //        i) its y axis stays tangent to the trajectory and
    //       ii) the z vector stays parallel to that of the world frame
    //
    //     - AV2World shoud have origin in [sin(time), 0.0, cos(2*time)], the
    //       rotation is irrelevant to our purpose.
    //    NOTE: AV1World's orientation is crucial for the rest fo the assignment,
    //          make sure you get it right
    //
    //    HINTS:
    //    - check out the ROS tf Tutorials: http://wiki.ros.org/tf/Tutorials,
    //      http://wiki.ros