机器人自动导航建图源码 xbot_slam-master

机器人自动导航建图源码


单片机源程序如下:

1. #include "ros/ros.h"
   
2. #include "std_msgs/String.h"
   
3. 
   
4. #include <sstream>
   
5. 
   
6. 
   
7. int main(int argc, char **argv)
   
8. {
   
9. 
   
10.   ros::init(argc, argv, "subgoal");
    
11. 
    
12.   ros::NodeHandle n;
    
13. 
    
14.   ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
    
15. 
    
16.   ros::Rate loop_rate(10);
    
17. 
    
18. 
    
19. 
    
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;
    
27. 
    
28.     std::stringstream ss;
    
29.     ss << "hello world " << count;
    
30.     msg.data = ss.str();
    
31. 
    
32.     ROS_INFO("%s", msg.data.c_str());
    
33. 
    
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);
    
41. 
    
42.     ros::spinOnce();
    
43. 
    
44.     loop_rate.sleep();
    
45.     ++count;
    
46.   }
    
47. 
    
48. 
    
49.   return 0;
    
50. }
    

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所有资料51hei提供下载:
xbot_slam-master.zip (390.82 KB, 下载次数: 24)

2018-11-30 10:56 上传

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这个包含了仿真程序，可以直接在linux下使用