{"id":86748,"date":"2026-07-29T07:56:33","date_gmt":"2026-07-28T23:56:33","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/86748.html"},"modified":"2026-07-29T07:56:33","modified_gmt":"2026-07-28T23:56:33","slug":"2026-7-26-%e5%88%9d%e5%85%a5slamopencv%e7%ac%ac%e5%9b%9b%e5%a4%a9-%e7%bc%96%e5%86%99-ros-%e9%80%9f%e5%ba%a6%e5%8f%91%e5%b8%83%e8%8a%82%e7%82%b9%ef%bc%8c%e5%ae%9e%e7%8e%b0%e7%a8%8b%e5%ba%8f%e8%87%aa","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/86748.html","title":{"rendered":"2026.7.26-\u521d\u5165slam+opencv\u7b2c\u56db\u5929-\u7f16\u5199 ROS \u901f\u5ea6\u53d1\u5e03\u8282\u70b9\uff0c\u5b9e\u73b0\u7a0b\u5e8f\u81ea\u52a8\u63a7\u5236\u4e4c\u9f9f\u79fb\u52a8\uff0c\u548c\u5750\u6807\u8ba2\u9605\u7a0b\u5e8f\u8054\u52a8"},"content":{"rendered":"<h2>1.\u7f16\u5199 ROS \u901f\u5ea6\u53d1\u5e03\u8282\u70b9<\/h2>\n<h3>1.\u6253\u5f00\u4e0a\u6b21\u7684turtle_msg_test package\u5305\u7684src\u76ee\u5f55 \u521b\u5efa\u5e76\u7f16\u5199turtle_vel_pob.cpp\u6587\u4ef6<\/h3>\n<p>cd ~\/catkin_ws\/src\/turtle_msg_test\/src<br \/>\ngedit turtle_vel_pub.cpp<br \/>\n#include &lt;ros\/ros.h&gt;<br \/>\n\/\/ \u901f\u5ea6\u6d88\u606f\u5934\u6587\u4ef6&#xff0c;\u63a7\u5236\u4e4c\u9f9f\u79fb\u52a8\u5fc5\u987b\u5f15\u5165<br \/>\n#include &lt;geometry_msgs\/Twist.h&gt;<\/p>\n<p>int main(int argc, char **argv)<br \/>\n{<br \/>\n    \/\/ 1.\u521d\u59cb\u5316ROS\u8282\u70b9&#xff0c;\u547d\u540d\u901f\u5ea6\u53d1\u5e03\u8282\u70b9<br \/>\n    ros::init(argc, argv, &#034;turtle_vel_pub_node&#034;);<br \/>\n    \/\/ \u521b\u5efa\u8282\u70b9\u53e5\u67c4&#xff0c;\u548croscore\u901a\u4fe1<br \/>\n    ros::NodeHandle n;<\/p>\n<p>    \/\/ 2.\u521b\u5efa\u53d1\u5e03\u8005\u5bf9\u8c61<br \/>\n    \/\/ \u6a21\u677f\u53c2\u6570&lt;geometry_msgs::Twist&gt;&#xff1a;\u53d1\u5e03\u6d88\u606f\u7c7b\u578b<br \/>\n    \/\/ &#034;\/turtle1\/cmd_vel&#034;&#xff1a;\u4e4c\u9f9f\u63a5\u6536\u901f\u5ea6\u6307\u4ee4\u7684\u8bdd\u9898<br \/>\n    \/\/ 10&#xff1a;\u6d88\u606f\u7f13\u5b58\u961f\u5217\u957f\u5ea6<br \/>\n    ros::Publisher pub &#061; n.advertise&lt;geometry_msgs::Twist&gt;(&#034;\/turtle1\/cmd_vel&#034;, 10);<\/p>\n<p>    \/\/ 3.\u8bbe\u7f6e\u53d1\u5e03\u9891\u7387&#xff1a;1Hz&#xff0c;1\u79d2\u53d1\u90011\u6b21\u901f\u5ea6\u6307\u4ee4<br \/>\n    ros::Rate rate(1.0);<\/p>\n<p>    ROS_INFO(&#034;\u901f\u5ea6\u53d1\u5e03\u8282\u70b9\u542f\u52a8\u6210\u529f&#xff0c;\u4e4c\u9f9f\u5c06\u81ea\u52a8\u5411\u524d\u76f4\u884c&#034;);<\/p>\n<p>    \/\/ 4.\u5faa\u73af\u6301\u7eed\u53d1\u5e03\u6d88\u606f&#xff0c;ros::ok()\u5224\u65ad\u8282\u70b9\u662f\u5426\u6b63\u5e38\u8fd0\u884c<br \/>\n    while(ros::ok())<br \/>\n    {<br \/>\n        \/\/ \u5b9a\u4e49Twist\u901f\u5ea6\u6d88\u606f\u7ed3\u6784\u4f53<br \/>\n        geometry_msgs::Twist vel_msg;<\/p>\n<p>        \/\/ \u7ebf\u901f\u5ea6&#xff1a;\u63a7\u5236\u524d\u540e\u79fb\u52a8&#xff0c;x\u8f74\u5411\u524d<br \/>\n        vel_msg.linear.x &#061; 0.5;<br \/>\n        vel_msg.linear.y &#061; 0.0;<br \/>\n        vel_msg.linear.z &#061; 0.0;<\/p>\n<p>        \/\/ \u89d2\u901f\u5ea6&#xff1a;\u63a7\u5236\u65cb\u8f6c&#xff0c;z\u8f74\u65cb\u8f6c<br \/>\n        vel_msg.angular.x &#061; 0.0;<br \/>\n        vel_msg.angular.y &#061; 0.0;<br \/>\n        vel_msg.angular.z &#061; 0.0;<\/p>\n<p>        \/\/ \u628a\u901f\u5ea6\u6d88\u606f\u53d1\u5e03\u5230\u8bdd\u9898<br \/>\n        pub.publish(vel_msg);<\/p>\n<p>        \/\/ \u6253\u5370\u5f53\u524d\u4e0b\u53d1\u7684\u901f\u5ea6\u503c&#xff0c;\u65b9\u4fbf\u8c03\u8bd5<br \/>\n        ROS_INFO(&#034;\u4e0b\u53d1\u901f\u5ea6&#xff1a;linear.x &#061; %.3f&#034;, vel_msg.linear.x);<\/p>\n<p>        \/\/ \u6839\u636e1Hz\u9891\u7387\u4f11\u7720&#xff0c;\u63a7\u5236\u53d1\u9001\u95f4\u9694<br \/>\n        rate.sleep();<br \/>\n    }<br \/>\n    return 0;<br \/>\n} <\/p>\n<h3>2.\u5728package.xml \u6dfb\u52a0geometry_msgs \u4f9d\u8d56<\/h3>\n<p>cd ..<br \/>\ngedit package.xml<br \/>\n&lt;build_depend&gt;geometry_msgs&lt;\/build_depend&gt;<br \/>\n&lt;exec_depend&gt;geometry_msgs&lt;\/exec_depend&gt; <\/p>\n<p style=\"text-align:center\"><img decoding=\"async\" alt=\"\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260728235631-6a6941af48e5d.png\" \/><\/p>\n<h3>3.\u4fee\u6539 CMakeLists.txt \u6dfb\u52a0geometry_msgs\u5e93<\/h3>\n<p>gedit CMakelists.txt <\/p>\n<p>\u5728 find_package \u7ec4\u4ef6\u91cc\u6dfb\u52a0 geometry_msgs<\/p>\n<p>find_package(catkin REQUIRED COMPONENTS<br \/>\n  roscpp<br \/>\n  std_msgs<br \/>\n  turtlesim<br \/>\n  geometry_msgs<br \/>\n) <\/p>\n<p>\u6587\u4ef6\u4e0b\u65b9\u540c\u65f6\u4fdd\u7559\u8ba2\u9605\u3001\u53d1\u5e03\u4e24\u6bb5\u7f16\u8bd1\u89c4\u5219&#xff1a;<\/p>\n<p>add_executable(turtle_vel_pub_node src\/turtle_vel_pub.cpp)<br \/>\ntarget_link_libraries(turtle_vel_pub_node<br \/>\n  ${catkin_LIBRARIES}<br \/>\n) <\/p>\n<h3>4.\u7f16\u8bd1&#xff0c;\u5237\u65b0\u73af\u5883\u53d8\u91cf<\/h3>\n<p>cd ~\/catkin_ws\/<br \/>\ncatkin_make<br \/>\nsource ~\/catkin_ws\/devel\/setup.bash <\/p>\n<h2>2.\u591a\u7ec8\u7aef\u5206\u5f00\u8fd0\u884c&#xff0c;\u9a8c\u8bc1\u5b8c\u6574\u529f\u80fd<\/h2>\n<h3>1.\u6253\u5f00roscore<\/h3>\n<p>roscore <\/p>\n<h3>2.\u542f\u52a8\u4e4c\u9f9f\u4eff\u771f\u754c\u9762<\/h3>\n<p>rosrun turtlesim turtlesim_node <\/p>\n<h3>3.\u542f\u52a8\u901f\u5ea6\u53d1\u5e03\u8282\u70b9<\/h3>\n<p>rosrun turtle_msg_test turtle_vel_pub_node <\/p>\n<h3>4.\u542f\u52a8\u5750\u6807\u8ba2\u9605\u8282\u70b9<\/h3>\n<p>rosrun turtle_msg_test turtle_pose_sub_node <\/p>\n<p>\u542f\u52a8\u540e\u4e4c\u9f9f\u4e00\u76f4\u6cbf\u4e00\u4e2a\u65b9\u5411\u79fb\u52a8 \u4e00\u79d2\u5237\u65b0\u4e00\u6b21\u6570\u636e<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"915\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260728235632-6a6941b00aa48.png\" width=\"1793\" \/><\/p>\n","protected":false},"excerpt":{"rendered":"<p>1.\u7f16\u5199 ROS \u901f\u5ea6\u53d1\u5e03\u8282\u70b9<br \/>\n1.\u6253\u5f00\u4e0a\u6b21\u7684turtle_msg_test package\u5305\u7684src\u76ee\u5f55 \u521b\u5efa\u5e76\u7f16\u5199turtle_vel_pob.cpp\u6587\u4ef6<br \/>\ncd ~\/catkin_ws\/src\/turtle_msg_test\/src<br \/>\ngedit turtle_vel_pub.cpp<br \/>\n#include<br \/>\n\/\/ \u901f\u5ea6\u6d88\u606f\u5934\u6587\u4ef6&#xff0c;\u63a7\u5236\u4e4c\u9f9f\u79fb\u52a8\u5fc5\u987b\u5f15\u5165<br \/>\n#include int main(in<\/p>\n","protected":false},"author":2,"featured_media":86746,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[9137,1460,50,384,523],"topic":[],"class_list":["post-86748","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-atomgit","tag-opencv","tag-50","tag-384","tag-523"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>2026.7.26-\u521d\u5165slam+opencv\u7b2c\u56db\u5929-\u7f16\u5199 ROS \u901f\u5ea6\u53d1\u5e03\u8282\u70b9\uff0c\u5b9e\u73b0\u7a0b\u5e8f\u81ea\u52a8\u63a7\u5236\u4e4c\u9f9f\u79fb\u52a8\uff0c\u548c\u5750\u6807\u8ba2\u9605\u7a0b\u5e8f\u8054\u52a8 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link 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