ROS编程实例出现“terminate called after throwing an instance of 'ros::TimeNotInitializedException”方法

梦里梦外; 2023-06-22 03:19 61阅读 0赞

利用ROS编写一个输出“hello world”简单实例出现“terminate called after throwing an instance of ‘ros::TimeNotInitializedException’
what(): Cannot use ros::Time::now() before the first NodeHandle has been created or ros::start() has been called. If this is a standalone app or test that just uses ros::Time and does not communicate over ROS, you may also call ros::Time::init()”的解决方法！！！

代码如下：

  1. #include "ros/ros.h"
  2. #include "std_msgs/String.h"
  3. #include <sstream>
  5. using namespace ros;
  7. using namespace std;
  9. int main(int argc,char ** argv)
  10. {
  11.     ros::init(argc,argv,"message_output");
  14.     ros::Rate loop_rate(1);
  16.     int count = 0; 
  18.     while(ros::ok())
  19.     {
  20.          ROS_INFO("Hello world");
  22.          count++;
  23.          loop_rate.sleep();         
  24.     } 
  26. return 0;  
  27. }

出现了以上的错误，原因是使用ros::Rate loop_rate(1)对象未初始化，需在ros::Rate loop_rate(1)前面添加ros::Time::init();语句进行初始化

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