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在ROS下测试订阅/cmd_vel节点，实际测试时采用/turtle1/cmd_vel节点

参考：

http://blog.csdn.net/heyijia0327/article/details/41823809 

http://answers.ros.org/question/129506/subscriber-not-seeing-cmd_vel-messages/

#include
   
    #include
    
     #include
     
      #include
      
       #include
       
        void callback(const geometry_msgs::Twist& cmd_vel){	ROS_INFO("Received a /cmd_vel message!");	ROS_INFO("Linear Components:[%f,%f,%f]",cmd_vel.linear.x,cmd_vel.linear.y,cmd_vel.linear.z);	ROS_INFO("Angular Components:[%f,%f,%f]",cmd_vel.angular.x,cmd_vel.angular.y,cmd_vel.angular.z);	// Do velocity processing here:      // Use the kinematics of your robot to map linear and angular velocities into motor commands  //    v_l = ...  //    v_r = ...        // Then set your wheel speeds (using wheel_left and wheel_right as examples)  //    wheel_left.set_speed(v_l)  //    wheel_right.set_speed(v_r) }int main(int argc, char** argv){	ros::init(argc, argv, "cmd_vel_listener");	ros::NodeHandle n;	//ros::Subscriber sub = n.subscribe("cmd_vel", 1000, callback);	ros::Subscriber sub = n.subscribe("/turtle1/cmd_vel", 1000, callback);//用/turtle1/cmd_vel做测试哈	ros::spin();/*//http://answers.ros.org/question/129506/subscriber-not-seeing-cmd_vel-messages/	ros::Rate loop_rate(10);	while( n.ok() ) 	{   		 ros::spin();	}*/	return 1;}
       
      
     
    
   

节点结果：