一、发布起点,终点
pub_amcl:
#!/usr/bin/env python3
import rospy
from geometry_msgs.msg import PoseWithCovarianceStamped
def publish_amcl_pose():
# 初始化节点
rospy.init_node('amcl_pose_publisher')
# 创建发布者
amcl_pose_pub = rospy.Publisher('/amcl_pose', PoseWithCovarianceStamped, queue_size=10)
# 设置发布频率
rate = rospy.Rate(1) # 每秒发布一次,可根据需要调整
while not rospy.is_shutdown():
# 创建消息对象
amcl_pose_msg = PoseWithCovarianceStamped()
# 填充消息内容(示例数据,根据实际情况填充)
amcl_pose_msg.header.stamp = rospy.Time.now()
amcl_pose_msg.header.frame_id = 'map' # 假设使用地图坐标系
amcl_pose_msg.pose.pose.position.x =-13.473#-13.639#