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Hey there,

First, you need to create a publisher it can be either python or cpp file. Let's take an example and create python file.

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Pose

def publisher():
    pub = rospy.Publisher('pose', Pose, queue_size=1)
    rospy.init_node('pose_publisher', anonymous=True)
    rate = rospy.Rate(2) # Hz
    while not rospy.is_shutdown():
        p = Pose()
        p.position.x = 0.5
        p.position.y = -0.1
        p.position.z = 1.0
        # Make sure the quaternion is valid and normalized
        p.orientation.x = 0.0
        p.orientation.y = 0.0
        p.orientation.z = 0.0
        p.orientation.w = 1.0
        pub.publish(p)
        rate.sleep()

if __name__ == '__main__':
    try:
        publisher()
    except rospy:
        pass

Now, the pose is published into pose topic.

You can view all topic by:

rostopic list

You can check data for topic by:

rostopic echo pose

You can publish your topic via terminal by:

rostopic pub -r 1000 /cmd_vel geometry_msgs/Pose '{position: [1,2,3], orientation: [0.0,0.0,0.0,0.0]}'

Pose will be published on /cmd_vel topic and 1000 means every 1 sec it will be published

Hey there,

First, you need to create a publisher it can be either python or cpp file. Let's take an example and create python file.

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Pose

def publisher():
    pub = rospy.Publisher('pose', Pose, queue_size=1)
    rospy.init_node('pose_publisher', anonymous=True)
    rate = rospy.Rate(2) # Hz
    while not rospy.is_shutdown():
        p = Pose()
        p.position.x = 0.5
        p.position.y = -0.1
        p.position.z = 1.0
        # Make sure the quaternion is valid and normalized
        p.orientation.x = 0.0
        p.orientation.y = 0.0
        p.orientation.z = 0.0
        p.orientation.w = 1.0
        pub.publish(p)
        rate.sleep()

if __name__ == '__main__':
    try:
        publisher()
    except rospy:
        pass

Now, the pose is published into pose topic.

You can view all topic by:

rostopic list

You can check data for topic by:

rostopic echo pose

You can publish your topic via terminal terminal by:

rostopic pub -r 1000 /cmd_vel geometry_msgs/Pose '{position: [1,2,3], orientation: [0.0,0.0,0.0,0.0]}'

Pose will be published on /cmd_vel topic and 1000 means every 1 sec it will be published

rostopic list

rostopic echo pose

Hey there,

First, you need to create a publisher it can be either python or cpp file. Let's take an example and create python file.

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Pose

def publisher():
    pub = rospy.Publisher('pose', rospy.Publisher('cmd_vel', Pose, queue_size=1)
    rospy.init_node('pose_publisher', anonymous=True)
    rate = rospy.Rate(2) # Hz
    while not rospy.is_shutdown():
        p = Pose()
        p.position.x = 0.5
        p.position.y = -0.1
        p.position.z = 1.0
        # Make sure the quaternion is valid and normalized
        p.orientation.x = 0.0
        p.orientation.y = 0.0
        p.orientation.z = 0.0
        p.orientation.w = 1.0
        pub.publish(p)
        rate.sleep()

if __name__ == '__main__':
    try:
        publisher()
    except rospy:
        pass

You can publish your topic via terminal by:

rostopic pub -r 1000 /cmd_vel geometry_msgs/Pose '{position: [1,2,3], orientation: [0.0,0.0,0.0,0.0]}'

Pose will be published on /cmd_vel topic and 1000 means every 1 sec it will be published

Now, the pose is published into pose topic.

You can view all topic by:

rostopic list

You can check data for topic by:

rostopic echo pose

rostopic type /cmd_vel