ROS:geometry_msgs中 Point32 , Point ,PointStamped 的定义和转换,程序员大本营,技术文章内容聚合第一站。
Subscriber<geometry_msgs::msg::PointStamped> point_sub_; std::shared_ptr<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>> tf2_filter_; }; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::spin(std::make_shared<PoseDrawer>()); rclcpp::shutdown(); ...
('turtle_point_stamped', PointStamped, queue_size=1) if __name__ == '__main__': rospy.init_node('turtle_tf2_msg_broadcaster') rospy.wait_for_service('spawn') spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn) spawner(4, 2, 0, 'turtle3') pp = PointPublisher() pub = ...