ROS (25): release a static odometer Odom information

Sometimes in order to verify that the program can run , You need to enter a odometer information into the program ; Sometimes in order to verify the program before the real vehicle experiment , Need to modify different odometer data ( You can add one in the following code odom_tmp Array of , Or use a cycle to odom_tmp Value change ), The following c++ The code can realize this function ：

pub_odom.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <iostream>
#include <geometry_msgs/PoseStamped.h>
#include "nav_msgs/OccupancyGrid.h"
#include "nav_msgs/Odometry.h"
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include <Eigen/Dense>

ros::Publisher  pubCarpositiopn;

void odom_pub(){
    nav_msgs::Odometry odom_tmp;
    odom_tmp.header.frame_id = "/camera_init";
    odom_tmp.child_frame_id ="/aft_mapped";
    odom_tmp.header.stamp = ros::Time::now();  
    // Parameters can be changed 
    odom_tmp.pose.pose.position.x=-0.1;
    odom_tmp.pose.pose.position.y=9;
    odom_tmp.pose.pose.position.z=0;
    // odom_tmp.pose.pose.orientation.x=0;
    // odom_tmp.pose.pose.orientation.y=0;
    // odom_tmp.pose.pose.orientation.z=0;
    // odom_tmp.pose.pose.orientation.w=1;

    //  Around the z Shaft rotation 90°
    // Parameters can be changed 
    odom_tmp.pose.pose.orientation.x=0.707;
    odom_tmp.pose.pose.orientation.y=0;
    odom_tmp.pose.pose.orientation.z=0;
    odom_tmp.pose.pose.orientation.w=0.707;
    pubCarpositiopn.publish(odom_tmp);
}


int main(int argc, char **argv)
{
  ros::init(argc, argv, "pub_odom");
  ros::NodeHandle nh;

  pubCarpositiopn = nh.advertise<nav_msgs::Odometry>("/aft_mapped_to_init", 1);// Show vehicle / The position of radar in the map 

  ros::Rate rate_10hz(10);  
  while(ros::ok())
  {
    odom_pub();

    rate_10hz.sleep();
  }

  return 0;
}

rviz effect ：