机器人操作系统ros典型功能代码详解

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1、机器人操作系统ROS:典型功能代码详解李宝全目录100目录1ROSAPI介绍3Demo3//talker.cpp3//listener.cpp4//add_two_ints_server.cpp4//add_two_int_client.cpp5#CmakeList.txt5ROSARIA81//RosAria.cpp8#CmakeList.txt192//rosaria_teleop_key.cpp193//rosaria_teleop_code.cpp21#CmakeList.txt22Images25//image_converter.

2、cpp//包cv_bridge仅有的一个程序25//hud_gui_simplified.cpp26//usb_cam.h27//usb_cam.cpp28//usb_cam_node.cpp44#usb_cam/CmakeList.txt47NiTE,Tf的发布48//tf2_ros/transform_broadcaster.h系统48//tf2_ros/transform_broadcaster.cpp系统48//tf/transform_broadcaster.h49//tf/transform_broadcaster.cpp50//

3、tf2_ros/transform_listener.h50//tf/transform_listener.h51//openni_tracker.cpp节点54#CmakeList.txt57Tf的接收,并以控制P3AT做示范58//TfListnerAria.cpp58#CmakeList.txt59语音发布60//sound_play.h60//SoundDemo.cpp62#CmakeList.txt63#test/CmakeList.txt64语言接收,显示/再发声64//VoiceBridgeNode.cpp64#CMakeLis

4、t.txt64//RespondVoice.cpp65#test/CMakeList.txt66ROS_OpenTLD-GUI66//tld_gui_node.cpp66//base_frame.hpp66//base_frame.cpp68//ui_baseFrame.h72//base_frame_graphics_view.hpp75//base_frame_graphics_view.cpp76100ROS_OpenTLD-tracker79//tld_node.cpp79//main.hpp80//main.cpp82ROS_Ope

5、nTLD-launch87//ros_tld_gui.launch87//ros_tld_tracker.launch87ROS_OpenTLD-msg88//BoundingBox.h88//Target.h91ROS_OpenTLD-git-opentld/main94ROS数据类型95//std_msgs/Float3295//std_msgs/Char95//std_msgs/String95//std_msgs/Header95//sensor_msgs/Image95//sensor_msgs/Image_encodings??9

6、6//sound_play/SoundRequest96//geometry_msgs/Twist96//geometry_msgs/TransformStamped96ROS系统程序文件96//fill_image.h96//cv_bridge.h系统97//cv_bridge.cpp101Linux系统程序文件101/usr/include/linux/videodev2.h101100100ROSAPI介绍关于publisher1.ros::Publisherchatter_pub=n.advertise

7、g>("chatter",1000);//创建了一个发布者2.image_pub_=it_.advertise("/image_converter/output_video",1);3.image_transport::CameraPublisherimage_pub_;image_pub_=it.advertiseCamera("image_raw",1);image_pub_.publish((sensor_msgs::Image)img_,(sensor_msgs::CameraInfoPtr)*ci);关于advertise的缓冲区数

8、量,对于摄像头而言,缓冲1幅图像即可,试想若缓冲1000的话,当接收图像时接收的是历史图像.(需要验证???)但是对于第一行的缓冲区为1000的BaseDemo，l