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標題: 機器人自動導航建圖源碼 xbot_slam-master [打印本頁]
作者: aaa923124003    時間: 2018-11-30 10:56
標題: 機器人自動導航建圖源碼 xbot_slam-master
機器人自動導航建圖源碼


單片機源程序如下:
  1. #include "ros/ros.h"
  2. #include "std_msgs/String.h"

  4. #include <sstream>


  7. int main(int argc, char **argv)
  8. {

  10.   ros::init(argc, argv, "subgoal");

  12.   ros::NodeHandle n;

  14.   ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

  16.   ros::Rate loop_rate(10);



  20.   int count = 0;
  21.   while (ros::ok())
  22.   {
  23.     /**
  24.      * This is a message object. You stuff it with data, and then publish it.
  25.      */
  26.     std_msgs::String msg;

  28.     std::stringstream ss;
  29.     ss << "hello world " << count;
  30.     msg.data = ss.str();

  32.     ROS_INFO("%s", msg.data.c_str());

  34.     /**
  35.      * The publish() function is how you send messages. The parameter
  36.      * is the message object. The type of this object must agree with the type
  37.      * given as a template parameter to the advertise<>() call, as was done
  38.      * in the constructor above.
  39.      */
  40.     chatter_pub.publish(msg);

  42.     ros::spinOnce();

  44.     loop_rate.sleep();
  45.     ++count;
  46.   }


  49.   return 0;
  50. }
復制代碼

所有資料51hei提供下載:
xbot_slam-master.zip (390.82 KB, 下載次數: 24)


作者: aaa923124003    時間: 2018-11-30 10:59
這個包含了仿真程序，可以直接在linux下使用



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