ROS机器人turtlesim画圆轨迹的示例代码？

以下是画圆轨迹的示例代码：

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char** argv)
{
ros::init(argc, argv, "turtle_circle");
ros::NodeHandle nh;

ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 100);

ros::Rate rate(10);

while(ros::ok())
{
geometry_msgs::Twist msg;
msg.linear.x = 1.;
msg.angular.z = 1.;
pub.publish(msg);
rate.sleep();
}

return ;
}