在ros环境下怎么实现机器人转圈全部代码用c++实现

以下是一个简单的ROS程序，使用C++语言实现机器人按照设定的速度和时间转圈：

#include <ros/ros.h>
#include <std_msgs/Float64.h>

class CircleBot {
public:
    CircleBot() {
        left_wheel_pub = nh.advertise<std_msgs::Float64>("/left_wheel_controller/command", 1);
        right_wheel_pub = nh.advertise<std_msgs::Float64>("/right_wheel_controller/command", 1);
    }

    void run() {
        // set the velocity of the wheels
        double velocity = 0.5;
        std_msgs::Float64 left_vel, right_vel;
        left_vel.data = velocity;
        right_vel.data = -velocity;

        left_wheel_pub.publish(left_vel);
        right_wheel_pub.publish(right_vel);

        // set the duration of the movement
        double duration = 10.0;
        ros::Rate rate(10); // 10 Hz
        double t0 = ros::Time::now().toSec();
        while ((ros::Time::now().toSec() - t0) < duration) {
            rate.sleep();
        }

        // stop the wheels
        left_vel.data = 0.0;
        right_vel.data = 0.0;
        left_wheel_pub.publish(left_vel);
        right_wheel_pub.publish(right_vel);
    }

private:
    ros::NodeHandle nh;
    ros::Publisher left_wheel_pub;
    ros::Publisher right_wheel_pub;
};

int main(int argc, char** argv) {
    ros::init(argc, argv, "circle_bot");
    CircleBot bot;
    bot.run();
    return 0;
}

这个程序使用了`ros::NodeHandle`、`ros::Publisher`和`std_msgs::Float64`等ROS的常用类和消息类型。机器人会向左转圈，持续10秒钟后停止。你可以在程序中修改速度和时间来控制机器人的运动方式。