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@@ -0,0 +1,34 @@
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+package competition
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+
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+import (
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+ "github.com/bluenviron/goroslib/v2"
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+ "github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
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+ "log/slog"
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+ "os"
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+ "time"
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+)
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+
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+func main() {
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+ RosNode, err := goroslib.NewNode(goroslib.NodeConf{
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+ Name: "competitionNode",
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+ MasterAddress: "127.0.0.1:11311",
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+ })
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+ rosPublisher, err := goroslib.NewPublisher(goroslib.PublisherConf{
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+ Node: RosNode,
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+ Topic: "/competition",
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+ Msg: &std_msgs.String{},
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+ })
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+ if err != nil {
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+ slog.Error("程序崩溃，创建ros发布者competition失败：", err)
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+ os.Exit(-1)
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+ } else {
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+ slog.Info("创建ros发布者competition成功：", err)
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+ }
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+ for {
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+ time.Sleep(time.Duration(1) * time.Second)
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+ // 下发数据
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+ rosPublisher.Write(std_msgs.String{
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+ Data: "cicv测试队名",
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+ })
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+ }
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+}
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