1.1 header部分 头部分,主要是设置雷达的frame_id和时间戳,在microros中可以这样赋值 pub_msg.header.frame_id = micro_ros_string_utilities_set(pub_msg.header.frame_id,"laser");//初始化消息内容int64_t current_time =rmw_uros_epoch_millis(); pub_msg.header.stamp.sec= current_time * 1e-3; p...
tf变换 1. ros中的tf消息类型 geometry_msgs/TransformStamped 带时间戳的tf变换 std_msgs/Header header uint32 seq time stamp string frame_id string child_frame_id geomet
// get robot pose on the given costmap frametry{//通过tf获取map到base_link的关系,那么也就是map下base_link的坐标,也就是map下机器人的坐标tf_.transform(robot_pose, global_pose, costmap->getGlobalFrameID());} tf中的transform函数的具体代码...
frame_id: "robot/Sick_LMS_291" angle_min: -1.5707950592 angle_max: 1.5707950592 angle_increment: 0.0174532774836 time_increment: 5.55555561732e-06 scan_time: 0.0010000000475 range_min: 0.00999999977648 range_max: 80.0 ranges: 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, ...
() # 设置坐标变换消息的时间戳 static_transformStamped.header.frame_id ='world'# 设置一个坐标变换的源坐标系 static_transformStamped.child_frame_id ='house'# 设置一个坐标变换的目标坐标系 static_transformStamped.transform.translation.x ...
void Nav2Panel::onNewGoal(double x, double y, double theta, QString frame) { auto pose = geometry_msgs::msg::PoseStamped(); pose.header.stamp = rclcpp::Clock().now(); pose.header.frame_id = frame.toStdString(); pose.pose.position.x = x; pose.pose.position.y = y; pose.pose....
该节点参数较少,只有如下几个,一般需要设置的是: output_frame_id。 ~scan_height(int, default: 1 pixel) 设置用于生成激光雷达信息的象素行数。 ~scan_time(double, default: 1/30.0Hz (0.033s)) 两次扫描的时间间隔。 ~range_min(double, default: 0.45m) ...
<param name="odom_frame_id" value="odom"/> <param name="odom_model_type" value="diff-corrected"/> <param name="base_frame_id" value="base_link"/> <param name="global_frame_id" value="map"/> <!--transform tolerance-->
创建我们用来发布CreatPointCloud消息的 ros::Publisher . 切换行号显示 AI检测代码解析 15 sensor_msgs::PointCloud cloud; 16 cloud.header.stamp = ros::Time::now(); 17 cloud.header.frame_id = "sensor_frame"; 1. 2. 3. 填充PointCloud
intmain(intargc,char**argv){std::stringtopic,path,frame_id;inthz=5; ros::init (argc, argv,"publish_pointcloud");ros::NodeHandle nh; nh.param<std::string>("path", path,"/home/crp/catkin_ws/test.pcd");nh.param<std::string>("frame_id", frame_id,"camera");nh.param<std::string...