gazebo里通过节点发布topic让关节转动实现详解

rostopic pub -1 /swivel/swiveljoint1_position_controller/command std_msgs/Float64 "data: 1.5" 

$ catkin_create_pkg swivel_controller_cmd_publisher roscpp std_msgs

#include <ros/ros.h>
#include "std_msgs/Float64.h"  //要发布该类型得数据 需要包含该类型文件
int main(int argc, char **argv)
{
   ros::init(argc,argv,"swivel_gimbal_controller_cmd_publisher");
   ros::NodeHandle nh ;	//实例化句柄，初始化node
   std_msgs::Float64 msg; //创建该类型消息
    msg.data = 0.1; // 初始化消息
    // 声明发布句柄  <std_msgs::Float64> 消息类型  
    // "/swivel/swiveljoint1_position_controller/command"  模板名称
    // 数据缓存大小
    ros::Publisher pub = nh.advertise<std_msgs::Float64>( "/swivel/swiveljoint1_position_controller/command", 1);
    ros::Rate loop_rate(10);//定义发布的频率，1HZ
    while (ros::ok())
    {
         msg.data = (msg.data)+0.1;
        pub.publish(msg); //发布消息
        loop_rate.sleep();//根据前面的定义的loop_rate
    }
    return 0;
}

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)
add_executable(swivel_gimbal_controller_cmd_publisher src/swivel_controller_cmd_publisher.cpp )  	#生成可执行文件          swivel_gimbal_controller_cmd_publisher  节点的名字
add_dependencies(swivel_gimbal_controller_cmd_publisher mastering_ros_demo_pkg_generate_messages_cpp)   #必须添加add_dependencies，否则找不到自定义的msg产生的头文件
target_link_libraries(swivel_gimbal_controller_cmd_publisher ${catkin_LIBRARIES})

 rosrun swivel_controller_cmd_publisher swivel_gimbal_controller_cmd_publisher

 rostopic echo /swivel/swiveljoint1_position_controller/command