ros::Publisher:找不到命令?|ROS旋律|Ubuntu 18.04

Question

我在通过ros运行.cpp文件时遇到问题，cleanuer_bot.cpp(如下所示(。以下是详细信息：

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

#include <sstream>

ros::Publisher vel_publish;

void move(double speed, double direction, bool is_forward);

int main(int argc, char **argv)
{
ros::init(argc, argv, "Cleaner Bot");
ros::NodeHandle n;

vel_publish = n.advertise<geometry_msgs::Twist>("/turtle/cmd_vel", 10);
move(2.0, 5.0, 1.0);
}

void move(double speed, double distance, bool is_forward)
{
geometry_msgs::Twist vel_msg;

// double time = distance/speed;

if(is_forward)
{
// Setting a random linear velocity in the x direction
vel_msg.linear.x = abs(speed);
}

else
{
vel_msg.linear.x = -abs(speed);
}

vel_msg.linear.y = 0;
vel_msg.linear.z = 0;

vel_msg.angular.x = 0;
vel_msg.angular.y = 0;
vel_msg.angular.z = 0;

// Starting the loop with time, t = 0
double time_prev = ros::Time::now().toSec();

// Current distance is 0
double dist_now = 0;

ros::Rate loop_rate(10);
do
{
vel_publish.publish(vel_msg);
double time_now = ros::Time::now().toSec();
double dist_now = speed * (time_now - time_prev); 
ros::spinOnce();

}while(dist_now < distance);

vel_msg.linear.x = 0;
vel_publish.publish(vel_msg);
}

我在尝试执行rosrun时收到此消息，但是执行catkin_make不会给我带来任何问题。

有人能帮忙找到遗漏的东西吗？以下是我在执行rosrun后得到的结果

rosrun turtlesim_custom_cleaner src/cleaner_robot.cpp
/home/autoai/catkin_ws/src/turtlesim_custom_cleaner/src/cleaner_robot.cpp: line 7: ros::Publisher: command not found
/home/autoai/catkin_ws/src/turtlesim_custom_cleaner/src/cleaner_robot.cpp: line 9: syntax error near unexpected token `('
/home/autoai/catkin_ws/src/turtlesim_custom_cleaner/src/cleaner_robot.cpp: line 9: `void move(double speed, double direction, bool is_forward);'

系统详细信息：

Distributor ID: Ubuntu
Description:    Ubuntu 18.04.6 LTS
Release:    18.04
Codename:   bionic
Package: ros-melodic-ros
Status: install ok installed
Priority: optional
Section: misc
Installed-Size: 14
Maintainer: Dirk Thomas <[e-mail]>
Architecture: amd64
Version: 1.14.9-1bionic.20210505.012339
Depends: ros-melodic-catkin, ros-melodic-mk, ros-melodic-rosbash, ros-melodic-rosboost-cfg, ros-melodic-rosbuild, ros-melodic-rosclean, ros-melodic-roscreate, ros-melodic-roslang, ros-melodic-roslib, ros-melodic-rosmake, ros-melodic-rosunit
Description: ROS packaging system

提前感谢大家。

Answer 1

您不应该(ros(运行项目的源文件，而应该运行catkin_make创建的可执行文件。

例如：

rosrun turtlesim_custom_cleaner cleaner_robot

其中cleaner_robot是可执行文件的名称，这取决于您在CMakeLists.txt中定义的内容，但通常情况下，您应该在其中包含这样的内容：

add_executable(cleaner_robot src/cleaner_robot.cpp)

看看关于创建和运行包/节点的ROS教程

• 编写一个简单的发布服务器和订阅服务器
• 检查简单发布服务器和订阅服务器