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RSS订阅原创 ROS-launch
<launch> <!--node pkg="bingda_practices" type="talker" name="talker" />//启动节点 <node pkg="bingda_practices" type="listener" name="listener" output="screen"/--> <include file="$(find bingda_practices)/launch/talker.launch.
2022-02-26 17:17:42
151
原创 ROS-动态tf坐标转换
#include "ros/ros.h" #include "tf/transform_broadcaster.h"//tf发布 #include "tf/transform_datatypes.h" int main(int argc, char **argv){ ros::init(argc, argv, "robot_tf_publisher"); ros::NodeHandle n; ros::Rate r(10); tf::Tr.
2022-02-26 17:16:31
653
原创 ROS-CmakeLists,package
CmakeLists --- find_package(catkin REQUIRED //用到的基本头文件包，添加到此处 roscpp std_msgs message_generation tf ) --- add_message_files(//编写的msg文件 FILES student.msg # Message1.msg # Message2.msg ) ## Generate services in the 'srv' folder add_service_files
2022-02-26 17:08:31
268
原创 ROS-客户端，服务端
add_two_ints_server #include "ros/ros.h" #include "bingda_practices/AddTwoInts.h" bool add(bingda_practices::AddTwoInts::Request &req, bingda_practices::AddTwoInts::Response &res)//&req,&res均为client里的srv {
2022-02-26 16:59:47
225
原创 ROS-msg消息接收与发布
msg_pub #include "ros/ros.h" #include "bingda_practices/student.h"//student.msg头文件，在编译后生成 int main(int argc, char **argv){ ros::init(argc,argv,"msg_pub"); ros::NodeHandle n; ros::Publisher chatter_pub = n.advertise<bingda_pra
2022-02-26 16:37:26
442
原创 ROS-talker,listener
talker #include "ros/ros.h" //ros头文件 #include "std_msgs/String.h"//字符头文件 int main(int argc, char **argv){ ros::init(argc,argv,"talker");//初始化名为talker的节点 ros::NodeHandle n;//句柄，启用节点 ros::Publisher chatter_pub = n.advertise<std
2022-02-26 16:32:08
527
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