运行灵遨驱动
参考https://py1995.blog.csdn.net/article/details/132099231
roslaunch lingao_base lingao_base_driver.launch
发布运动控制节点
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/*!******************************************************************
@author ZhangWanjie
********************************************************************/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "demo_vel_ctrl");
ros::NodeHandle n;
ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
geometry_msgs::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;
vel_msg.angular.y = 0;
vel_msg.angular.z = 0;
ros::Rate r(30);
while(ros::ok())
{
vel_pub.publish(vel_msg);
r.sleep();
}
return 0;
}