data.c_str()); publisher_->publish(message); // publish the data } // declaration of timer_, publisher_, count_ rclcpp::TimerBase::SharedPtr timer_; rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; size_t count_; }; int main(int argc, char * argv[]) // node ...
ros2教程推荐?想问问b站或者其他软件有没有好的ros2教程显示全部 关注者21 被浏览10,076 关注问题写回答 邀请回答 好问题 添加评论 分享 13 个回答 默认排序 写回答下载知乎客户端 与世界分享知识、经验和见解 相关问题 ROS2现在稳定了么? 9 个回答 ROS 那么强大了为什么还要 R...
{ std::cout << "Image has a zero dimensions, check coordinates" << std::endl; return; } double x,y; boost::gil::gray8_pixel_t fill(255-msg->threshold()); boost::gil::gray8_pixel_t blank(255); boost::gil::gray8_image_t image(count_horizontal, count_vertical); double dist;...
bytes = zef_file.read(12) h = map(zd, bytes[0:12]) if zinfo.flag_bits & 0x8: # compare against the file type from extended local headers check_byte = (zinfo._raw_time >> 8) & 0xff else: # compare against the CRC otherwise check_byte = (zinfo.CRC >> 24) & 0xff if o...
ros2 topic pub -r1 /hardware/gpio_command_controller/commands std_msgs/msg/Float64MultiArray"layout:dim: [{"label":"gpio_num","size": 2,"stride": 32}, {"label":"io_num","size": 16,"stride": 16}]data_offset: 0data: [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,...
auto sub = node->create_subscription<std_msgs::msg::Float32>("/robot_battery", rclcpp::SensorDataQoS(), TopicCallback); 1. 这样,一个由CoCube发布到ROS2,并实现订阅的功能就实现了。 效果如下: 可以在上位机监测每一个机器人的电量状态。降低机器人程序复杂度。
publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10); auto timer_callback = [this]() -> void { auto message = std_msgs::msg::String(); message.data = "Hello World! " + std::to_string(this->count_++); ...
}voidMinimalPublisher::HandleTimerCallback(){automessage = std_msgs::msg::String(); message.data ="Hello, world! "+ std::to_string(count_++);RCLCPP_INFO(this->get_logger(),"Publishing: '%s'", message.data.c_str()); publisher_->publish(message); ...
auto sub = node->create_subscription<std_msgs::msg::Float32>("/robot_battery",rclcpp::SensorDataQoS(), TopicCallback); 这样,一个由CoCube发布到ROS2,并实现订阅的功能就实现了。 效果如下: 可以在上位机监测每一个机器人的电量状态。降低机器人程序复杂度。
private:voidtopic_callback(std::shared_ptr<rclcpp::SerializedMessage> msg)const//设置回调函数{autobag_message =std::make_shared<rosbag2_storage::SerializedBagMessage>();//创建SerializedBagMessage对象,并设置bag信息的类型 bag_message->serialized_data =std::shared_ptr<rcu...