ROS程序发布随机速到turltlesim

参考自“机器人操作系统浅析”
ROS程序-helloworld
ROS程序-velocity-publish

软件包agitr——helloworld
src/agitr/hello.cpp

//This is first ros package of standard "hello world" program#include <ros/ros.h>int main(int argc ,char** argv){    ros::init(argc,argv,"hello_ros");//node name :     ros::NodeHandle nh;    ROS_INFO_STREAM("hello, ROS!");}

src/agitr/package.xml

<?xml version="1.0"?><package>  <name>agitr</name>  <version>0.0.0</version>  <description>LEEMAN_CAFFEE</description>  <maintainer email="[e-mail]">HOPPS</maintainer>  <license>BSD</license>  <buildtool_depend>catkin</buildtool_depend>  <build_depend>roscpp</build_depend>  <build_depend>geometry_msgs</build_depend>  <build_depend>turtlesim</build_depend>  <run_depend>roscpp</run_depend>  <run_depend>geometry_msgs</run_depend>  <run_depend>turtlesim</run_depend>

src/agitr/CMakeList.txt

cmake_minimum_required(VERSION 2.8.3)project(agitr)find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs)##下面（）中#不能去除catkin_package(#  INCLUDE_DIRS include#  LIBRARIES agitr#  CATKIN_DEPENDS other_catkin_pkg#  DEPENDS system_lib)add_executable(hello hello.cpp)target_link_libraries(hello ${catkin_LIBRARIES})

source devel/setup.bash
rosrun agitr hello

pubvel 随机速度发布

src/pubvel/pubvel.cpp

//This is a first Velocity topic publish program#include <ros/ros.h>#include <geometry_msgs/Twist.h>#include <stdlib.h>int main(int argc,char** argv){    ros::init(argc,argv,"velocitypublish");    ros::NodeHandle nh;    ros::Publisher pub=nh.advertise<geometry_msgs::Twist>("turtle1/cmd_vel",1000);    srand(time(0));    ros::Rate rate(2);    while(ros::ok()){    geometry_msgs::Twist msg;    msg.linear.x=double(rand())/double(RAND_MAX);    msg.angular.z=2*double(rand())/double(RAND_MAX)-1;    pub.publish(msg);    ROS_INFO_STREAM("Sending random velocity command:"<<"linear="<<msg.linear.x<<"angular=msg.angular.z"<<msg.angular.z);    rate.sleep();}}

src/pubvel/CMakeList.txt

<?xml version="1.0"?><package>  <name>pubvel</name>  <version>0.0.0</version>  <description>LEEMAN_CAFFEE</description>  <license>BSD</license>  <buildtool_depend>catkin</buildtool_depend>  <build_depend>roscpp</build_depend>  <build_depend>geometry_msgs</build_depend>  <build_depend>turtlesim</build_depend>  <run_depend>roscpp</run_depend>  <run_depend>geometry_msgs</run_depend>  <run_depend>turtlesim</run_depend></package>

src/pubvel/CMakeList.txt

cmake_minimum_required(VERSION 2.8.3)project(pubvel)find_package(catkin REQUIRED roscpp geometry_msgs)catkin_package(  #INCLUDE_DIRS include  #LIBRARIES agitr_pubVel  #CATKIN_DEPENDS other_catkin_pkg  #DEPENDS system_lib)add_executable(pubvel pubvel.cpp)target_link_libraries(pubvel  ${catkin_LIBRARIES})

catkin_make
source devel/setup.bash
rosrun turtlesim turtlesim_node
rosrun pubvel pubvel
rostopic echo /turtle1/pose
rostopic echo /turtle1/cmd_vel

回掉函数与话题订阅
src/subturtlesimpose/subturtlesimpose.cpp

//This is a first Velocity topic publish program#include <ros/ros.h>#include <turtlesim/Pose.h>#include <iomanip>//callback funcitonvoid poseMessageReceived(const turtlesim::Pose& msg){    ROS_INFO_STREAM(std::setprecision(2)<<std::fixed<<"positon=("<<msg.x<<","<<msg.y<<")"<<"*direcion="<<msg.theta);}int main(int argc,char** argv){    ros::init(argc,argv,"subscribe_to_turtlesim_pose");    ros::NodeHandle nh;    ros::Subscriber sub=nh.subscribe("turtle1/pose",1000,&poseMessageReceived);    ros::spin();}

src/subturtlesimpose/package.xml

<?xml version="1.0"?><package>  <name>subturtlesimpose</name>  <version>0.0.0</version>  <description>LEEMAN_CAFFEE</description>  <maintainer email="[e-mail]">HOPPS</maintainer>  <license>BSD</license>  <buildtool_depend>catkin</buildtool_depend>  <build_depend>roscpp</build_depend>  <build_depend>geometry_msgs</build_depend>  <build_depend>turtlesim</build_depend>  <run_depend>roscpp</run_depend>  <run_depend>geometry_msgs</run_depend>  <run_depend>turtlesim</run_depend></package>

src/subturtlesimpose/CMakeList.txt

cmake_minimum_required(VERSION 2.8.3)project(subturtlesimpose)find_package(catkin REQUIRED roscpp geometry_msgs)catkin_package(  #INCLUDE_DIRS include  #LIBRARIES agitr_pubVel  #CATKIN_DEPENDS other_catkin_pkg  #DEPENDS system_lib)add_executable(subturtlesimpose subturtlesimpose.cpp)target_link_libraries(subturtlesimpose  ${catkin_LIBRARIES})

rosrun turtlesim turtlesim_node
rosrun pubvel pubvel
rosrun subturtlesimpose subturtlesimpose