有时为了验证程序可以运行，需要给程序输入一个里程计信息；有时为了在实车实验前验证程序，需要修改不同的里程计数据(可以在下面代码中增加一个odom_tmp的数组，或者用循环来使odom_tmp值变化)，下面这个c++代码可以实现这个功能：

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();  
    //参数可以改动
    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;
 
    // 绕z轴旋转90°
    //参数可以改动
    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);//显示车辆/雷达在地图中的位置
 
  ros::Rate rate_10hz(10);  
  while(ros::ok())
  {
    odom_pub();
 
    rate_10hz.sleep();
  }
 
  return 0;
}

rviz效果：