test_ros

Slide

http://note.youdao.com/noteshare?id=d0e59060b660af82c3c4fd46efeb13bf

Assignment Requirements

http://note.youdao.com/noteshare?id=61f18c56246c34475a7ccdb88620934e

Build

   cd ~/catkin_ws
   catkin_make --only-pkg-with-deps test_ros

Test

launch gazebo simulator

https://github.com/cgdsss/kejia_simulator
launch cpp node
```
roslaunch test_ros node.launch
```

run python node

roscd test_ros
chmod +x ./scripts/test.py

rosrun test_ros test.py

launch rviz
```
roslaunch test_ros rviz.launch
```
Call service request at terminal

rosservice call /scan_server "flag: -1"

rosservice call /scan_server "flag: 0"

rosservice call /scan_server "flag: 15"

rosservice call /scan_server "flag: 30"
Publish msg at terminal

rostopic pub /scan_client std_msgs/Bool "data: true"
Change the value of parameter a and b in yaml file. Then test it again.