C++ ROS编程：向前移动turtlebot

我想搬动这只海龟

首先，我在我的柳絮中创建了一个包

$ catkin_create_pkg /..package_name../ std_msgs rospy roscpp actionlib tf geometry_msgs move_base_msgs

然后我编辑CMakeList

add_executable(myProgram src/main.cpp) and target_link_libraries(<executabletargetname>, ${catkin_LIBRARIES})

编译后：

[100%]构建CXX对象ileri/CMakeFiles/gg.dir/src/gg.cpp.o /home/turtlebot/catkin_ws/src/ileri/src/gg.cpp:18:2:错误：“p”没有 未命名类型/home/turtlebot/catkin_ws/src/ileri/src/gg.cpp:28:2: 错误：“try”之前应为非限定id /home/turtlebot/catkin_ws/src/ileri/src/gg.cpp:31:3:错误：预期 “catch”make[2]之前的不合格id：* [ileri/CMakeFiles/gg.dir/src/gg.cpp.o]错误1生成[1]：* [ileri/cmakfiles/gg.dir/all]错误2

.cpp:

`geometry_msgs::PointStamped p;
 geometry_msgs::PointStamped p1;
 p.header.stamp = ros::Time();
 std::string frame1 = "/camera_depth_optical_frame";
 p.header.frame_id = frame1.c_str();

 p.point.x = 0;
 p.point.y = 0;
 p.point.z = 1; // 1 meter

 std::string frame = "map";

 try
 {
   listener.transformPoint(frame,p,p1);
 }catch(tf::TransformException& ex) { ROS_ERROR("exception while transforming..."); }

 // create message for move_base_simple/goal 
 geometry_msgs::PoseStamped msg;
 msg.header.stamp = ros::Time();
 std::string frame = "/map";
 msg.header.frame_id = frame.c_str();
 msg.pose.position = p1.point;
 msg.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
 publisher.publish(msg);`

• 你对这些错误怎么看
• 包含是否有问题？如果您这样认为，我应该添加哪些代码

---

在C++中，语句进入函数内部。似乎您的语句

p.header.stamp=ros:：Time（）显示在函数外部

您的程序还应该包含一个
intmain（）{}
函数。尝试将语句移动到
{}
中

`geometry_msgs::PointStamped p;
 geometry_msgs::PointStamped p1;
 p.header.stamp = ros::Time();
 std::string frame1 = "/camera_depth_optical_frame";
 p.header.frame_id = frame1.c_str();

 p.point.x = 0;
 p.point.y = 0;
 p.point.z = 1; // 1 meter

 std::string frame = "map";

 try
 {
   listener.transformPoint(frame,p,p1);
 }catch(tf::TransformException& ex) { ROS_ERROR("exception while transforming..."); }

 // create message for move_base_simple/goal 
 geometry_msgs::PoseStamped msg;
 msg.header.stamp = ros::Time();
 std::string frame = "/map";
 msg.header.frame_id = frame.c_str();
 msg.pose.position = p1.point;
 msg.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
 publisher.publish(msg);`