写一个ROS键盘控制小车底盘运动的C++代码
时间: 2024-02-01 16:14:20 浏览: 33
以下是一个简单的ROS键盘控制小车底盘运动的C++代码示例:
```cpp
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <stdio.h>
#include <stdlib.h>
#include <termios.h>
#include <unistd.h>
#include <fcntl.h>
#define KEYCODE_W 0x77
#define KEYCODE_S 0x73
#define KEYCODE_A 0x61
#define KEYCODE_D 0x64
#define KEYCODE_Q 0x71
#define KEYCODE_E 0x65
int kfd = 0;
struct termios cooked, raw;
void quit(int sig)
{
tcsetattr(kfd, TCSANOW, &cooked);
ros::shutdown();
exit(0);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "teleop_twist_keyboard");
ros::NodeHandle nh;
ros::Publisher twist_pub = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
signal(SIGINT,quit);
char c;
bool dirty=false;
// get the console in raw mode
tcgetattr(kfd, &cooked);
memcpy(&raw, &cooked, sizeof(struct termios));
raw.c_lflag &=~ (ICANON | ECHO);
// Setting a new line, then end of file
raw.c_cc[VEOL] = 1;
raw.c_cc[VEOF] = 2;
tcsetattr(kfd, TCSANOW, &raw);
puts("Reading from keyboard");
puts("---------------------------");
puts("Use arrow keys to move the robot.");
for(;;)
{
// get the next event from the keyboard
if(read(kfd, &c, 1) < 0)
{
perror("read():");
exit(-1);
}
geometry_msgs::Twist twist;
switch(c)
{
case KEYCODE_W:
twist.linear.x = 1.0;
dirty = true;
break;
case KEYCODE_S:
twist.linear.x = -1.0;
dirty = true;
break;
case KEYCODE_A:
twist.angular.z = 1.0;
dirty = true;
break;
case KEYCODE_D:
twist.angular.z = -1.0;
dirty = true;
break;
case KEYCODE_Q:
twist.linear.y = 1.0;
dirty = true;
break;
case KEYCODE_E:
twist.linear.y = -1.0;
dirty = true;
break;
}
if(dirty ==true)
{
twist_pub.publish(twist);
dirty=false;
}
}
return(0);
}
```
这个代码将读取键盘输入并将运动控制命令发布到ROS话题/cmd_vel上。可以通过订阅该话题的节点来控制小车底盘的运动。