http://note.youdao.com/noteshare?id=d0e59060b660af82c3c4fd46efeb13bf

http://note.youdao.com/noteshare?id=61f18c56246c34475a7ccdb88620934e

   cd ~/catkin_ws
   catkin_make --only-pkg-with-deps test_ros

• launch gazebo simulator

  https://github.com/cgdsss/kejia_simulator

• launch cpp node

  roslaunch test_ros node.launch
  

• run python node

  roscd test_ros
  chmod +x ./scripts/test.py
  

  rosrun test_ros test.py
  

• launch rviz

  roslaunch test_ros rviz.launch
  

• Call service request at terminal

  rosservice call /scan_server "flag: -1"

  rosservice call /scan_server "flag: 0"

  rosservice call /scan_server "flag: 15"

  rosservice call /scan_server "flag: 30"

• Publish msg at terminal

  rostopic pub /scan_client std_msgs/Bool "data: true"

• Change the value of parameter a and b in yaml file. Then test it again.