fix：新增例程

基础编程/e6.ROS环境下python测试实验/code/hello.cpp

@@ -0,0 +1,13 @@
+#include "ros/ros.h"
+
+int main(int argc, char *argv[])
+{
+    //执行 ros 节点初始化
+    ros::init(argc,argv,"hello");
+    //创建 ros 节点句柄(非必须)
+    ros::NodeHandle n;
+   
+    ROS_INFO("hello SLAm!");
+
+    return 0;
+}

基础编程/e6.ROS环境下python测试实验/code/listener.py

@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+
+import rospy  
+from std_msgs.msg import String
+
+def callback(data):  
+    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
+
+def listener():
+
+    # In ROS, nodes are uniquely named. If two nodes with the same
+    # node are launched, the previous one is kicked off. The
+    # anonymous=True flag means that rospy will choose a unique
+    # name for our 'listener' node so that multiple listeners can
+    # run simultaneously.
+    rospy.init_node('listener', anonymous=True)
+
+    rospy.Subscriber("chatter", String, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()

基础编程/e6.ROS环境下python测试实验/code/talker.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    rospy.init_node('talker', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        hello_str = "hello world %s" % rospy.get_time()
+        rospy.loginfo(hello_str)
+        pub.publish(hello_str)
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:  
+        talker()  
+    except rospy.ROSInterruptException:
+        pass