#include<ros/time.h>doubletime=msg->header.stamp.toSec();#效果等同于doubletime=msg->header.stamp.sec+msg->header.stamp.nsec/1e9; double消息类型转换成ros时间戳 #include<ros/time.h>#include<ros/impl/time.h>msg.header.stamp=ros::Time().fromSec(x);...
void TRANSGPS::TRANS(const novatel_msgs::INSPVAX& msg) { sensor_msgs::NavSatFix gps_data; gps_data.header.stamp = ros::Time::now(); gps_data.header.frame_id = "base_link"; gps_data.latitude=msg.latitude; gps_data.longitude=msg.longitude; gps_data.altitude=msg.altitude; pub.publish(g...
/opt/ros/noetic/include/message_filters/sync_policies/approximate_time.h:181:86: error: ‘value’ is not a member of ‘ros::message_traits::TimeStamp<rfid_reader::DataDev_<std::allocator<void>>, void>’181|previous_msg_time=mt::TimeStamp<typename mpl::at_c<Messages, i>::type>::valu...
ROS_INFO(" test_msg.header.stamp.msec: %d",test_msg.header.stamp.nsec); ROS_INFO(" test_msg.header.frame_id: %s",test_msg.header.frame_id.c_str()); ROS_INFO(" test_msg.name = name: %s",test_msg.name.c_str()); ROS_INFO(" test_msg.sex: %d",test_msg.sex); ROS_INFO("...
gauss_msg.lat = y; gauss_msg.height = 0; gauss_msg.yaw = gpsimu.yaw; gauss_msg.roll = gpsimu.roll; gauss_msg.pitch = gpsimu.pitch; double hei = gpsimu.height; geo_gauss_msg.header.stamp = ros::Time::now(); geo_gauss_msg.pose.position.x = x - origin_E; ...
header.stamp = ros::Time::now(); transformStamped.header.frame_id = "world"; transformStamped.child_frame_id = turtle_name; transformStamped.transform.translation.x = msg->x; transformStamped.transform.translation.y = msg->y; transformStamped.transform.translation.z = 0.0; tf2::Quaternion q; q...
ros_time = ros_message->header.stamp; auto builder = tx_proto.initProto(); std::vector<SharedBuffer>& buffers = tx_proto.buffers(); // This converter is currently only supporting rgb8 color encoding and 16UC1 depth encoding if (ros_message->encoding == "rgb8") { ...
(msg):print("Received an image!")# Convert your ROS Image message to OpenCVtry:cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8")except CvBridgeError as e:print etimestr ="%.6f"% msg.header.stamp.to_sec()#%.6f表示小数点后带有6位,...
pcl::PointCloud<pcl::PointXYZ> cloud;sensor_msgs::PointCloud2 output;pcl::io::loadPCDFile (path, cloud);pcl::toROSMsg(cloud,output);// 转换成ROS下的数据类型 最终通过topic发布 output.header.stamp=ros::Time::now;output.header.frame_id =frame_id; ...
msg->header.frame_id = "some_tf_frame"; msg->height = msg->width = 1; msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0)); ros::Rate loop_rate(4); while (nh.ok()) { msg->header.stamp = ros::Time::now().toNSec(); ...