Question

我是ROS的初学者。我的操作系统是Ubuntu 12.04，我的ROS是水力学。在我阅读ROS.wiki中关于初学者教程的“说话者和听众”的一些章节之后，我尝试写一个出版商给将消息发布到主题“turtle1 / com_vel”，以便我可以控制乌龟来运行。但是当我尝试制作我的代码时，它失败了。终端提醒我

  CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
  Could not find a configuration file for package ros.

  Set ros_DIR to the directory containing a CMake configuration file for ros.
  The file will have one of the following names:

    rosConfig.cmake
    ros-config.cmake

我想我的CMakeLists.txt.But在与ROS.wiki中的演示进行比较后出现了问题，我仍然找不到错误。这是我在cpp文件中的代码。在这个文件中，我定义了一个名为move_turtle的发布者。

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"

int main( int argc, char** argv )
{
  // initialization
  ros::init(argc, argv, "move_turtle");
  ros::NodeHandle n;
  ros::Publisher move_pub = n.advertise<geometry_msgs::Twist>("turtle1/com_vel",100);
  ros::Rate loop_rate(10);
  //define the moving rule that I want.It is a circle.
  geometry_msgs::Twist com_cicle;
  com_cicle.linear.x=3.0;
  com_cicle.linear.y=com_cicle.linear.z=0.0;
  com_cicle.angular.x=com_cicle.angular.y=0.0;
  com_cicle.angular.z=2.0;
  while(ros::ok())
  {
    //publish the msg to topic /tuttle1/com_vel
    move_pub.pulish(com_cicle);
    ros::spinOnce();
    loop_rate.sleep();
  }
  return 0;
}

我的CMakeLists.txt如下：

cmake_minimum_required(VERSION 2.8.3)
project(move_turtle)

find_package(catkin REQUIRED COMPONENTS
  ros
  geometry_msgs
  turtlesim
)

catkin_package()
include_directories(
  ${catkin_INCLUDE_DIRS}
)

## Declare a cpp executable
  add_executable(move_turtle src/move_turtle.cpp)

## Specify libraries to link a library or executable target against
  target_link_libraries(move_turtle ${catkin_LIBRARIES})

Answer 1

哦......我在'CMakeLists.txt'的第5行使用'ros'代替'roscpp'。这就是为什么它让我想起我的路上没有'ros'包。

在ROS中如何发布我自己的主题？

1 个答案: