目录

一、话题与消息获取

1、话题

2、消息

二、代码编写

1、C++

2、python

三、编译运行

---

一、话题与消息获取

打开小乌龟案例

1、话题

rqt_graph

rostopic list

2、消息

获取消息类型:

rostopic type /turtle1/cmd_vel

 

获取消息格式:

rosmsg info geometry_msgs/Twist

 

二、代码编写

1、C++

//包含头文件
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"int main(int argc, char *argv[])
{//初始化 ROS 节点ros::init(argc,argv,"control");ros::NodeHandle nh;//创建发布者对象ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",1000);geometry_msgs::Twist msg;msg.linear.x = 1.0;msg.linear.y = 0.0;msg.linear.z = 0.0;msg.angular.x = 0.0;msg.angular.y = 0.0;msg.angular.z = 2.0;ros::Rate r(10);while(ros::ok()){//循环发布运动控制消息pub.publish(msg);ros::spinOnce();}return 0;
}

2、python

#! /usr/bin/env python
# -*- coding:UTF-8 -*-#导包
import rospy
from geometry_msgs.msg import Twistif __name__ == "__main__":#初始化 ROS 节点rospy.init_node("control_circle_p")#创建发布者对象pub = rospy.Publisher("/turtle1/cmd_vel",Twist,queue_size=1000)rate = rospy.Rate(10)msg = Twist()msg.linear.x = 1.0msg.linear.y = 0.0msg.linear.z = 0.0msg.angular.x = 0.0msg.angular.y = 0.0msg.angular.z = 0.5while not rospy.is_shutdown():pub.publish(msg)rate.sleep()

三、编译运行