hcx@ 创建订阅者代码（Python）
#!/usr/bin/env python
# -* coding: utf-8 -*
# 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Pose
import rospy
from turtlesim.msg import Pose
def poseCallback(msg):
rospy.loginfo("Turtle pose: x:%0 0 码力 |
7 页 |
1.00 MB
| 2 年前 3 创建功能包
$ cd ~/catkin_ws/src
$ catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
CMakeLists.txt
 编译并运行发布者
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roscore
$ rosrun turtlesim turtlesim_node
$ rosrun learning_topic velocity_publisher
|hcX@hcX-VPC:~/catkin\_ws$ rosrun learning\_topic 0 码力 |
8 页 |
1.12 MB
| 2 年前 3 std_msgs geometry_msgs turtlesim
## • 创建客户端代码（C++）
#include
#include <turtlesim spawn.h="">
int main(int main(int argc, char** argv)
// 发现/spawn服务后，创建一个服务客户端，连接名为/spawn的service
## // 初始化turtlesim::spawn的请求数据
turtlesim:: spawn sv;
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.name = "turtle2"; ## 如何实现一个客户端
turtle_spawn.cpp
• 初始化ROS节点；
• 创建一个Client实例；
- 等待Server处理之后的应答结果。
• 发布服务请求数据;turtlesim>
## - 配置客户端代码编译规则
## Declare a C++ executable
## With catkin_make all packages are built 0 码力 |
8 页 |
1.01 MB
| 2 年前 3 machine>
## • Launch文件语法
## launch simple.launch
/launch>
turtlesim_parameter_config.launch
## Launch示例
0 码力 |
8 页 |
1.03 MB
| 2 年前 3 rosrun turtlesim turtlesim_node
$ rosrun turtlesim turtle_teleop_key
小海龟仿真器界面
hcx@hcx-vpc:~$ rosrun turtlesim turtlesim_node Starting turtlesim with node name /turtlesim
[ INFO] [1561200736.954437402]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
启动海龟仿真器节点
hcx@hcx-vpc:~$ rosrun turtlesim turtle_teleop_key 0 码力 |
7 页 |
1.38 MB
| 2 年前 3 rosrun turtlesim turtlesim_node
$ rosrun turtlesim turtle_teleop_key
小海龟仿真器界面
hcx@hcx-vpc:~$ rosrun turtlesim turtlesim_node Starting turtlesim with node name /turtlesim
[ INFO] [1561200736.954437402]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
启动海龟仿真器节点
hcx@hcx-vpc:~$ rosrun turtlesim turtle_teleop_key 0 码力 |
9 页 |
1.35 MB
| 2 年前 3 ${catkin_LIBRARYES})
CMakeLists.txt
## • 编译并运行发布者
$ catkin_make
$ source devel/setup.bash
$ rosrun turtlesim turtlesim_node
$ rosrun learning_parameter_parameter_config
hcx@hcx-vpc:~$ rosrun learning_parameter_parameter_config 0 码力 |
9 页 |
1.17 MB
| 2 年前 3 编译并运行服务器
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roscore
$ rosrun turtlesim turtlesim_node
$ rosrun learning_service turtle_command_server
$ rosservice call /turtle_command "{}" 0 码力 |
7 页 |
1.10 MB
| 2 年前 3 apt-get install ros-melodic-turtle-tf
$ roslaunch turtle_tf turtle_tf_demo.launch
$ rosrun turtlesim turtle_teleop_key
$ rosrun tf view_frames
view_frames Result
world
Broadcaster: /turtle1_tf_broadcaster 0 码力 |
7 页 |
1.08 MB
| 2 年前 3
| 
古月《ROS入门21讲》18.tf坐标系广播与监听的编程实现.pdftf坐标系广播与监听的编程实现 主讲人：古月 ## • 创建功能包 $ cd ~/catkin_ws/src $ catkin_create_pkg learning_tf roscpp rospy tf turtlesim 主目录 include  ros.h=""> #include