40 lines
1.1 KiB
C++
40 lines
1.1 KiB
C++
#include "rclcpp/rclcpp.hpp"
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#include "geometry_msgs/msg/twist.hpp"
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#include <cstdlib>
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#include <ctime>
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class CmdPublisher : public rclcpp::Node
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{
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public:
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CmdPublisher() : Node("cmd_pub")
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{
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publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 10);
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timer_ = this->create_wall_timer(
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std::chrono::seconds(1),
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std::bind(&CmdPublisher::timer_callback, this)
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);
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std::srand(std::time(nullptr)); // initialisation du générateur aléatoire
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}
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private:
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void timer_callback()
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{
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geometry_msgs::msg::Twist msg;
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msg.angular.z = ((double)std::rand() / RAND_MAX) * 2.0 - 1.0; // entre -1 et 1
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publisher_->publish(msg);
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RCLCPP_INFO(this->get_logger(), "Published angular velocity around z: %.3f rad/s", msg.angular.z);
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}
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rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
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rclcpp::TimerBase::SharedPtr timer_;
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};
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int main(int argc, char *argv[])
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<CmdPublisher>());
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rclcpp::shutdown();
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return 0;
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}
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