ROS_Robot/wpr_simulation2
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add demo_4

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This commit is contained in:
Robot 2023-08-27 18:31:56 +08:00
parent cd35a30bf4
commit 0e94a37c5e
4 changed files with 37 additions and 2 deletions
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6
CMakeLists.txt
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@ -48,6 +48,11 @@ ament_target_dependencies(3_subscriber_node
"rclcpp" "std_msgs"
)
add_executable(4_velocity_command demo_cpp/4_velocity_command.cpp)
ament_target_dependencies(4_velocity_command
"rclcpp" "geometry_msgs"
)
add_executable(demo_mani_ctrl demo_cpp/demo_mani_ctrl.cpp)
ament_target_dependencies(demo_mani_ctrl
"rclcpp" "sensor_msgs"
@ -77,6 +82,7 @@ install(
TARGETS
wpb_home_mani_sim
3_publisher_node 3_subscriber_node
4_velocity_command
demo_mani_ctrl
demo_nav2_client
DESTINATION

29
demo_cpp/4_velocity_command.cpp Normal file
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@ -0,0 +1,29 @@
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/twist.hpp>
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<rclcpp::Node>("velocity_command_node");
auto vel_pub = node->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 10);
geometry_msgs::msg::Twist vel_msg;
vel_msg.linear.x = 0.1;
vel_msg.linear.y = 0.0;
vel_msg.linear.z = 0.0;
vel_msg.angular.x = 0.0;
vel_msg.angular.y = 0.0;
vel_msg.angular.z = 0.0;
rclcpp::Rate loop_rate(30);
while (rclcpp::ok())
{
vel_pub->publish(vel_msg);
loop_rate.sleep();
}
rclcpp::shutdown();
return 0;
}

2
launch/spawn_wpb.launch.py
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@ -52,7 +52,7 @@ def generate_launch_description():
# Launch configuration variables specific to simulation
pose_x = LaunchConfiguration('pose_x', default='0.0')
pose_y = LaunchConfiguration('pose_y', default='0.0')
pose_y = LaunchConfiguration('pose_theta', default='0.0')
pose_theta = LaunchConfiguration('pose_theta', default='0.0')
# Declare the launch arguments
declare_x_position_cmd = DeclareLaunchArgument(

2
launch/spawn_wpb_mani.launch.py
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@ -55,7 +55,7 @@ def generate_launch_description():
# Launch configuration variables specific to simulation
pose_x = LaunchConfiguration('pose_x', default='0.0')
pose_y = LaunchConfiguration('pose_y', default='0.0')
pose_y = LaunchConfiguration('pose_theta', default='0.0')
pose_theta = LaunchConfiguration('pose_theta', default='0.0')
# Declare the launch arguments
declare_x_position_cmd = DeclareLaunchArgument(