ROS入门（6）机器人运动控制

将wpr_simulation功能包更新到最新状态

cd catkin_ws/src/wpr_simulation

git pull

cd catkin_ws/src/

catkin_create_pkg vel_pkg roscpp rospy geometry_msgs

#include<ros/ros.h>

#include<geometry_msgs/Twist.h>

int main(int argc, char *argv[])

{

ros::init(argc,argv,"vel_node");

ros::NodeHandle n;

ros::Publisher vel_pub=n.advertise<geometry_msgs::Twist>("/cmd_vel",10);

geometry_msgs::Twist vel_msg;

vel_msg.linear.x=0.1;

vel_msg.linear.y=0;

vel_msg.linear.z=0;

vel_msg.angular.x=0;

vel_msg.angular.y=0;

vel_msg.angular.z=0;

ros::Rate r(30);

while (ros::ok())

{

vel_pub,publish(vel_msg);

r.sleep();

}

return 0;

}

cmakelists添加

add_executable(vel_node src/vel_node.cpp)

target_link_libraries(vel_node

${catkin_LIBRARIES}

)

roslaunch wpr_simulation wpb_simple.launch

rosrun vel_pkg vel_node