arduino代码

2026-07-18 18:22:58 +08:00
parent 2b7a320983
commit a2825ed71a
438 changed files with 36538 additions and 0 deletions
@@ -0,0 +1,37 @@
+/* 
+ * rosserial Time and TF Example
+ * Publishes a transform at current time
+ */
+
+#include <ros.h>
+#include <ros/time.h>
+#include <tf/transform_broadcaster.h>
+
+ros::NodeHandle  nh;
+
+geometry_msgs::TransformStamped t;
+tf::TransformBroadcaster broadcaster;
+
+char base_link[] = "/base_link";
+char odom[] = "/odom";
+
+void setup()
+{
+  nh.initNode();
+  broadcaster.init(nh);
+}
+
+void loop()
+{  
+  t.header.frame_id = odom;
+  t.child_frame_id = base_link;
+  t.transform.translation.x = 1.0; 
+  t.transform.rotation.x = 0.0;
+  t.transform.rotation.y = 0.0; 
+  t.transform.rotation.z = 0.0; 
+  t.transform.rotation.w = 1.0;  
+  t.header.stamp = nh.now();
+  broadcaster.sendTransform(t);
+  nh.spinOnce();
+  delay(10);
+}