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我想移動turtlebot。ROS編程：向前移動turtlebot
首先，我創建的包我catkin_ws內
$ catkin_create_pkg /..package_name../ std_msgs rospy roscpp actionlib tf geometry_msgs move_base_msgs
然後我編輯CMakeList
add_executable(myProgram src/main.cpp) and target_link_libraries(<executabletargetname>, ${catkin_LIBRARIES})
第三，我運行以下命令：
catkin_make
編譯後：
[100%] Building CXX object ileri/CMakeFiles/gg.dir/src/gg.cpp.o /home/turtlebot/catkin_ws/src/ileri/src/gg.cpp:18:2: error: ‘p’ does not name a type /home/turtlebot/catkin_ws/src/ileri/src/gg.cpp:28:2: error: expected unqualified-id before ‘try’ /home/turtlebot/catkin_ws/src/ileri/src/gg.cpp:31:3: error: expected unqualified-id before ‘catch’ make[2]: * [ileri/CMakeFiles/gg.dir/src/gg.cpp.o] Error 1 make[1]: * [ileri/CMakeFiles/gg.dir/all] Error 2
的.cpp：
`geometry_msgs::PointStamped p;
geometry_msgs::PointStamped p1;
p.header.stamp = ros::Time();
std::string frame1 = "/camera_depth_optical_frame";
p.header.frame_id = frame1.c_str();
p.point.x = 0;
p.point.y = 0;
p.point.z = 1; // 1 meter
std::string frame = "map";
try
{
listener.transformPoint(frame,p,p1);
}catch(tf::TransformException& ex) { ROS_ERROR("exception while transforming..."); }
// create message for move_base_simple/goal
geometry_msgs::PoseStamped msg;
msg.header.stamp = ros::Time();
std::string frame = "/map";
msg.header.frame_id = frame.c_str();
msg.pose.position = p1.point;
msg.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
publisher.publish(msg);`
- ，你怎麼看待這些錯誤？
- 包括有問題嗎？如果你這麼認爲，其中包括我應該添加此代碼？