无人驾驶仿真（六）：编写基于ROS的C++测试代码，控制车辆运动

车辆运动"/>

无人驾驶仿真（六）：编写基于ROS的C++测试代码，控制车辆运动

1. 为什么要基于ROS编写代码？

使用其他的机器人操作系统均可，本博客使用基础的ROS平台。

2. 需要做哪些准备？

windows：完整的prescan仿真模型，包括车辆，环境

linux：ROS1.0完整版本

3. ROS工程代码：

（1）创建工程项目：

mkdir -p ~/talker/src
cd talker/src
catkin_init_workspace
cd ..
catkin_make
cd src
catkin_create_package communication roscpp rospy std_msgs geometry_msgs

（2）编写talker代码：

#include <ssteam>
#include <std_msgs/String.h>
#include <geometry_msgs/PoseStamped.h>
#include <ros/ros.h>int main(int argc, **argv){ros::init(argc, argv, "talker");ros::NodeHandle n;ros::Publisher chatter_pub = n.advertise<geometry_msgs::PoseStamped>("talker", 10);ros::Rate loop_rate(10);while(ros::ok()){geometry_msgs::PoseStamped pose_msg;pose_msg.pose.position.x=1;pose_msg.pose.position.y=2;pose_msg.pose.position.z=3;pose_msg.pose.orientation.x=3;chatter_pub.publish(pose_msg);ros::spinOnce();loop_rate.sleep;}
}

（3）编辑CMakeLists.txt

cmake_minimum_requried(VERSION 2.8.3)
project(communication)find_package(catkin REQUIRED COMPONENTSroscpprospystd_msgsmessage_generationgeometry_msgs
)add_message_files(FILES PointStamped.msg)generate_messages(DEPENDENCIES std_msgs)catkin_package(CATKIN_DEPENDS roscpp rospy message_runtime message_generation geometry_msgs)include_directories(include$(catkin_INCLUDE_DIRS)
)add_executalbe(talker src/talker.cpp)
target_link_libraries(talker $(catkin_LIBRARIES))

（4）编辑packge.xml

<?xml version="1.0"?>
<package format="2"><name>communication</name><version>0.0.0</vervion><description>The communication package</description><miantainer email>="username@todo.todo"<maintainer><license>TODO</license><buildtool_depend>catkin</buildtool_depend><build_depend>roscpp</build_depend><build_depend>rospy</build_depend><build_depend>std_msgs</build_depend><build_depend>message_generation</build_depend><build_depend>message_runtime</build_depend><build_depend>geometry_msgs</build_depend><build_export_depend>roscpp</build_export_depend><build_export_depend>rospy</build_export_depend><build_export_depend>std_msgs</build_export_depend><build_export_depend>message_generation</build_export_depend><build_export_depend>message_runtime</build_export_depend><build_export_depend>geometry_msgs</build_export_depend><exec_depend>roscpp</exec_depend><exec_depend>rospy</exec_depend><exec_depend>std_msgs</exec_depend><exec_depend>message_generation</exec_depend><exec_depend>message_runtime</exec_depend><exec_depend>geometry_msgs</exec_depend><export></export>
</package>

（5）配置环境：

cd ~/talker
catkin_makesource devel/setup.bash
export ROS_MASTER_URI=http://192.168.*.*:*** //rosmaster主机（Linux）ip和端口
epxort ROS_HOSTNAME=192.168.*.* //windows主机ip
rosrun communicaiton talker