,name.c_str()); } private: }; int main(int argc, char **argv) { rclcpp::init(argc, argv); /*产生一个node_03的节点*/ auto node = std::make_shared<Node03>("node_03"); /* 运行节点,并检测退出信号*/ rclcpp::spin(node); rclcpp::shutdown(); return 0; } 接着修改CMakeLists...
(this->get_logger(), "节点已启动:%s.", name.c_str()); } }; // class ActionControl01 int main(int argc, char** argv) { rclcpp::init(argc, argv); auto action_client = std::make_shared<ActionControl01>("action_robot_cpp"); rclcpp::spin(action_client); rclcpp::shutdown(); ...
#include"rclcpp/rclcpp.hpp"intmain(intargc,char**argv){ rclcpp::init(argc, argv);/*产生一个Wang2的节点*/autonode = std::make_shared<rclcpp::Node>("wang2");// 打印一句自我介绍RCLCPP_INFO(node->get_logger(),"大家好,我是单身狗wang2.");/* 运行节点,并检测退出信号*/rclcpp::spin(node...
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...
auto alloc = std::make_shared<MyAllocator<void>>(); auto publisher = node->create_publisher<std_msgs::msg::UInt32>("allocator_example", 10, alloc); auto msg_mem_strat = std::make_shared<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::UInt32, ...
auto publisher = node->create_publisher<std_msgs::msg::UInt32>("allocator_example", 10, alloc); auto msg_mem_strat = std::make_shared<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::UInt32, MyAllocator<>>>(alloc); ...
rclcpp::Publisher<ars548_interface::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(); ...
#include "rclcpp/rclcpp.hpp"int main(int argc, char **argv){rclcpp::init(argc, argv);/*产生一个Wang2的节点*/auto node = std::make_shared<rclcpp::Node>("wang2");// 打印一句自我介绍RCLCPP_INFO(node->get_logger(), "hello world");/* 运行节点,并检测退出信号*/rclcpp::spin(node);...
auto node = std::make_shared<Node03>("node_03"); /* 运行节点,并检测退出信号*/ rclcpp::spin(node); rclcpp::shutdown(); return 0; } 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19.
auto msg = std::make_shared<more_interfaces::msg::AddressBook>(); { rosidl_tutorials_msgs::msg::Contact contact; contact.first_name = "John"; contact.last_name = "Doe"; contact.age = 30; contact.gender = contact.MALE; contact.address = "unknown"; ...