在ROS中如何發佈我自己的話題？

我是一名ROS.My的初學者，我的操作系統是Ubuntu 12.04，我的ROS是hydro.After我讀了一些關於ROS.wiki中的初學者教程的「講者和聽者」的章節，我嘗試寫一個發佈者發佈消息主題「turtle1/com_vel」這樣我可以控制烏龜跑round.But時，我儘量讓我的代碼，它fails.The終端提醒我，在ROS中如何發佈我自己的話題？

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

我想這有什麼不對與我的CMakeLists.txt.But比較它與ROS.wiki中的演示後，我仍然無法找到錯誤。這是我在cpp文件中的代碼。在這個文件中，我定義了一個名爲move_turtle的發佈者。

#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; 
}

而我的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})

來源

2013-11-21 xmfbit

哦......我在第5行中使用的 '活性氧' 代替「roscpp「CMakeLists.txt'.That就是爲什麼它提醒我，我的道路上沒有'ros'套餐。

來源

2013-11-22 11:22:41 xmfbit

在ROS中如何發佈我自己的話題？

回答

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