ROS下订阅/cmd_vel节点

#include<ros/ros.h>

#include<tf/transform_broadcaster.h>

#include<nav_msgs/Odometry.h>

#include<geometry_msgs/Twist.h>

#include<iostream>

 

void callback(const geometry_msgs::Twist& cmd_vel)

{

	ROS_INFO("Received a /cmd_vel message!");

	ROS_INFO("Linear Components:[%f,%f,%f]",cmd_vel.linear.x,cmd_vel.linear.y,cmd_vel.linear.z);

	ROS_INFO("Angular Components:[%f,%f,%f]",cmd_vel.angular.x,cmd_vel.angular.y,cmd_vel.angular.z);

}

 

int main(int argc, char** argv)

{

	ros::init(argc, argv, "cmd_vel_listener");

	ros::NodeHandle n;

	ros::Subscriber sub = n.subscribe("/turtle1/cmd_vel", 1000, callback);

	ros::spin();

	return 1;

}