在文件 ros_bridge.cc 第42 行定义.42 {43 apollo::cyber::BridgeConf bridge_conf;44 std::vector<std::shared_ptr<MessageConverter>> converter_list_;45 46 BridgeArgument bridge_args;47 bridge_args.ParseArgument(argc, argv);48 49 apollo::cyber::Init(argv[0]);...
17#include "cyber/ros_bridge/converters/common_plugins/pointcloud_msg_converter/lidar_pointcloud.h" // NOLINT18 19namespace apollo {20namespace cyber {21 22#ifdef ENABLE_ROS_MSG23void ParseField(sensor_msgs::msg::PointField field,24 std::shared_ptr<apollo::drivers::PointCloud> point_clouds...
Building bridge code In order to build the bridge, first build the appropriate ros messages used in the bridge source code: cd /home/apollo_ros_bridge/ros_pkgs catkin build source devel/setup.bash Now, build the bridge source code using bazel. From the root workspace of the package, ...
In order to build the bridge, first build the appropriate ros messages used in the bridge source code: cd /home/apollo_ros_bridge/ros_pkgs catkin build Now, build the bridge source code using bazel. From the root workspace of the package, ...
using RosNavMsg = apollo::cyber::proto::SimpleMessage 在文件 odometry_parser.h 第63 行定义.◆ RosWrapMsgusing RosWrapMsg = apollo::cyber::proto::SimpleMessage 在文件 odometry_parser.h 第65 行定义.◆ RosWrapMsgPtrusing RosWrapMsgPtr = std::shared_ptr<RosWrapMsg> 在文件 odometry_parser....
36#ifdef ENABLE_ROS_MSG 37using InputMsg = sensor_msgs::msg::PointCloud2; 38#else 39using InputMsg = apollo::cyber::proto::SimpleMessage; 40#endif 41 42using OutputMsg = apollo::drivers::PointCloud; 43 44using InputMsgPtr = std::shared_ptr<InputMsg>; 45using OutputMsgPtr = std...
▼ros_bridge ►common ►conf ►converter_base ►converters ►proto ►ros_bridge.cc ►scheduler ►service ►service_discovery ►statistics ►sysmo ►task ►time ►timer ►tools ►transport ►binary.cc ►binary.h ►cyber.cc ►cyber.h ►init.cc ►init.h ►sta...
17#include "cyber/ros_bridge/converters/common_plugins/localization_msg_converter/localization_estimate.h" // NOLINT18 19namespace apollo {20namespace cyber {21 22bool LocalizationEstimate::ConvertMsg(23 InputTypes<InputMsgPtr>& in,24 OutputTypes<LocalizationMsgPtr, TransformMsgPtr>& out) {...
36#ifdef ENABLE_ROS_MSG 37using RosOdometryMsg = nav_msgs::msg::Odometry; 38#else 39// fake wrap 40using RosOdometryMsg = apollo::cyber::proto::SimpleMessage; 41#endif 42 43using OdometryOutputMsg = apollo::localization::Gps; 44 45using RosOdometryMsgPtr = std::shared_ptr<RosOdometr...
Now, build the bridge source code using bazel. From the root workspace of the package,cd /home/apollo_ros_bridge bazel build cyber_ros_bridge:all To run the example node, runroscore && ./bazel-bin/cyber_ros_bridge/cyber_ros_bridge ...