无人驾驶仿真（十一）：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 COMPONENTS
    roscpp
    rospy
    std_msgs
    message_generation
    geometry_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>="[email protected]"<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_make

source 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