however in either case, only a shared ptr to the base class (rclcpp_lifecycle::LifecylcleNode::SharedPtr) will be passed because the base class inherits from std::enabled_shared_from_this.
privatevoidonTimer(){std_msgs.msg.String msg =newstd_msgs.msg.String();// 创建消息对象msg.setData("Hello! ROS2 Humble! "+this.count);// 设置消息内容this.count++;// 计数器自增this.publisher.publish(msg);// 发布消息} publicvoidstop(...
this->declare_parameter<std::string>("target_frame", "turtle1"); tf_buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock()); tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_); // Create a client to spawn a turtle spawner_ = this->create_client<...
(all_new_parameters); // set new parameters } private: rclcpp::TimerBase::SharedPtr timer_; // declaration of timer_ }; int main(int argc, char ** argv) { rclcpp::init(argc, argv); // init rclcpp::spin(std::make_shared<MinimalParam>()); // process data from the node rclcpp:...
auto alloc = std::make_shared<MyAllocator<void>>(); 1. 当你已经实例化一个节点,给这个节点添加一个执行者之后,就是spin的时候了 uint32_t i = 0; while (rclcpp::ok()) { msg->data = i; i++; publisher->publish(msg); rclcpp::utilities::sleep_for(std::chrono::milliseconds(1)); exe...
scan_filter_ =-std::make_unique<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(+std::make_shared<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(*scan_filter_sub_, *tf_, odom_frame_, 1, shared_from_this(), tf2::durationFromSec(transform_timeout_.seconds())); ...
In ROS 1 nodes commonly use theNodeAPI and implement their ownmainfunction. Only a few packages leverage theNodeletAPI and compile their components into shared libraries instead. The developer has to choose between these two different APIs and converting from using one to the other requires some...
RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); publisher_->publish(message); } 最后是计时器、发布者和计数器字段的声明。 rclcpp::TimerBase::SharedPtr timer_; rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; ...
(const std_msgs::msg::Int32::SharedPtr msg) { qDebug()<<msg->data; // emitTopicData("I head from ros2_qt_demo_publish:"+QString::fromStdString(std::to_string(msg->data))); emit emitTopicData("i am listen from topic: "+QString::fromStdString(std::to_string(msg->data)))...
(&MinimalSubscriber::topic_callback, this, _1));}private:void topic_callback(const std_msgs::msg::String::SharedPtr msg) const{RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());}rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;};int main(...