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autopilot
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Create the first autopilot version to make the robot spin

This commit is contained in:
Justin CHARMETANT 2024-11-07 09:20:24 +01:00
parent 27e6ab1251
commit 68f7cab51c
2 changed files with 6 additions and 3 deletions
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3
CMakeLists.txt
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@ -134,6 +134,9 @@ include_directories(
## The recommended prefix ensures that target names across packages don't collide ## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/autopilot_node.cpp) # add_executable(${PROJECT_NAME}_node src/autopilot_node.cpp)
add_executable(autopilot src/autopilot.cpp)
target_link_libraries(autopilot ${catkin_LIBRARIES})
## Rename C++ executable without prefix ## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the ## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use ## target back to the shorter version for ease of user use

6
src/autopilot.cpp
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@ -8,15 +8,15 @@ int main(int argc, char** argv)
// Subscribe to the cmd_vel topic // Subscribe to the cmd_vel topic
ros::NodeHandle nh; ros::NodeHandle nh;
ros::Publisher cmdVelPub = nh.advertise<geometry_msg::Twist>("cmd_vel",1); ros::Publisher cmdVelPub = nh.advertise<geometry_msgs::Twist>("cmd_vel",1);
ros::Rate loopRate(10); ros::Rate loopRate(10);
while(ros::ok()) while(ros::ok())
{ {
geometry_msg::Twist msg; geometry_msgs::Twist msg;
msg.angular.z =1; msg.angular.z =1;
mdVelPub.publish(msg); cmdVelPub.publish(msg);
ros::spinOnce(); ros::spinOnce();
loopRate.sleep(); loopRate.sleep();
} }