本教程是B站阿杰视频的笔记
视频地址：https://www.bilibili.com/video/BV1nG411V7HW

超声波传感器

1. 工作空间设置

cd catkin_ws/src/

2. 创建Package

catkin_creat_pkg ssr_pkg rospy roscpp std_msgs

3. 回访依赖包

roscd roscpp
ls
code package.xml

下载包可直接运行，源文件须编译运行

4. 创建Node节点

#include  <ros/ros.h>int main(int argc, char const *argv[])
{/* code */return 0;
}

代码误报删除c_cpp_properties文件

5. 源码编译

#include  <ros/ros.h>int main(int argc, char const *argv[])
{/* code */printf("HelloWorld!\\n");return 0;
}

add_executable(chao_node src/chao_node.cpp)

ctrl+shift+b编译

6. 运行Node节点

roscore

rosrun ssr_pkg chao_node

如果报错如下操作

code ~/.bashrc

# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

7. Node节点完善

#include  <ros/ros.h>int main(int argc, char  *argv[])
{/* code */ros :: init ( argc, argv, "chao_node");printf("我是个弟弟！\\n");return 0;
}

add_executable(chao_node src/chao_node.cpp)
target_link_libraries(chao_node${catkin_LIBRARIES}
)

编译运行

保持运行，加while循环

#include  <ros/ros.h>int main(int argc, char  *argv[])
{/* code */ros :: init ( argc, argv, "chao_node");printf("我是个弟弟！\\n");while (true){/* code */printf("我是大哥！\\n");}return 0;
}

编译运行
ctrl+shift+w强制关闭终端

完善退出

#include  <ros/ros.h>int main(int argc, char  *argv[])
{/* code */ros :: init ( argc, argv, "chao_node");printf("我是个弟弟！\\n");while (ros::ok()){/* code */printf("我是大哥！\\n");}return 0;
}

8. 总结