std::make_shared<AllocatorMemoryStrategy<MyAllocator<>>>(alloc); rclcpp::executors::SingleThreadedExecutor executor(memory_strategy); 您还需要使用您的分配器来分配您在执行代码路径中传递的所有消息。 auto alloc = std::make_shared<MyAllocator<void>>(); 一旦您完成该节点的实例化并将执行程序添加到该节...
auto node = std::make_shared<rclcpp::Node>("matrix_publisher"); // 创建发布者 auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>("matrix_topic",10); // 定义矩阵数据 std::vector<double> data {1.0,2.0,3.0,4.0,5.0,6.0}; auto message = std::make_shared<std_ms...
std::make_shared<AllocatorMemoryStrategy<MyAllocator<>>>(alloc); rclcpp::executors::SingleThreadedExecutor executor(memory_strategy); 在你的代码执行的过程中所传递的消息也需要通过你的内存分配器来分配。 auto alloc = std::make_shared<MyAllocator<void>>(); 当你已经实例化一个节点,给这个节点添加一个...
auto node = rclcpp::Node::make_shared("helloworld_node"); RCLCPP_INFO(node->get_logger(),"hello world!"); rclcpp::shutdown(); return 0; } Python实例化Node示例如下: import rclpy def main(): rclpy.init() node = rclpy.create_node("helloworld_py_node") node.get_logger().info("hello...
auto result = std::make_shared<Fibonacci::Result>(); for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) { // Check if there is a cancel request if (goal_handle->is_canceling()) { result->sequence = sequence;
sequence.push_back(1);autoresult = std::make_shared<Fibonacci::Result>();for(inti =1; (i < goal->order) && rclcpp::ok(); ++i) {// Check if there is a cancel requestif(goal_handle->is_canceling()) { result->sequence = sequence; ...
rclcpp::Publisher<tutorial_interfaces::msg::Num>::SharedPtr publisher_; // CHANGE size_t count_; }; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::spin(std::make_shared<MinimalPublisher>()); rclcpp::shutdown(); ...
rclcpp::spin(std::make_shared<HelloWorldNode>()); // 关闭ROS2 C++接口 rclcpp::shutdown(); return 0; } source install/local_setup.sh # 仅在当前终端生效 echo " source ~/dev_ws/install/local_setup.sh" >> ~/.bashrc # 所有终端均生效 ...
auto feedback = std::make_shared(); auto & sequence = feedback->sequence; sequence.push_back(0); sequence.push_back(1); auto result = std::make_shared(); for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) {
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${EXTRA_CMAKE_LINKER_FLAGS}" CACHE STRING "so_linker_flags") set(THREADS_PTHREAD_ARG "0" CACHE STRING "Result from TRY_RUN" FORCE) ### # Python setup ### # the variable below has to be set according to the output ...