《ROS机器人高效编程》书的代码

这本书环境是ROS-Kinect，具体安装配置请看ROS wiki。

#include 
#include 
#include 
#include 

main （int argc char **argv）
{
    ros::init （argc argv “pcl_create“）;

    ros::NodeHandle nh;
    ros::Publisher pcl_pub = nh.advertise （“pcl_output“ 1）;
    pcl::PointCloud cloud;
    sensor_msgs::PointCloud2 output;

    // Fill in the cloud data
    cloud.width  = 100;
    cloud.height = 1;
    cloud.points.resize（cloud.width * cloud.height）;

    for （size_t i = 0; i < cloud.points.size （）; ++i）
    {
        cloud.points[i].x = 1024 * rand （） / （RAND_MAX + 1.0f）;
        cloud.points[i].y = 1024 * rand （） / （RAND_MAX + 1.0f）;
        cloud.points[i].z = 1024 * rand （） / （RAND_MAX + 1.0f）;
    }

    //Convert the cloud to ROS message
    pcl::toROSMsg（cloud output）;
    output.header.frame_id = “odom“;

    ros::Rate loop_rate（1）;
    while （ros::ok（））
    {
        pcl_pub.publish（output）;
        ros::spinOnce（）;
        loop_rate.sleep（）;
    }

    return 0;
}

 属性            大小     日期    时间   名称
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     目录           0  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\
     目录           0  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\
     文件        1572  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\CMakeLists.txt
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     文件    17492958  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\data\test_pcd.pcd
     文件        3608  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\data\write_pcd_test.pcd
     文件        1116  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\package.xml
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     文件        1063  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_create.cpp
     文件        1178  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_downsampling.cpp
     文件        1207  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_filter.cpp
     文件        1569  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_matching.cpp
     文件        1811  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_model_estimation.cpp
     文件        1720  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_partitioning.cpp
     文件        2524  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_planar_segmentation.cpp
     文件         711  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_read.cpp
     文件        1043  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_visualize.cpp
     文件        2005  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_visualize2.cpp
     文件         559  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_write.cpp
     目录           0  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\
     目录           0  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\cfg\
     文件         843  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\cfg\chapter2.cfg
     文件        6628  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\CMakeLists.txt
     目录           0  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\launch\
     文件         208  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\launch\chapter2.launch
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     文件        1033  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\package.xml
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     文件         527  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\src\example1_a.cpp
     文件         358  2017-11-23 15:29  effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\src\example1_b.cpp
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