你可以将消息理解成一种数据结构,其中包裹着与编程语言无关的数据类型,比如我们上一节中使用的消息是String,这是ROS的std_msgs包中内置的一种消息,其中包裹着的数据结构等价于C++中的std::string,Python中的str。 由于我们上一章只是想要传递一个string,所以直接用现成的String就行,但是如果我们想要传递一个矩阵...
#include<chrono>#include<functional>#include<memory>#include<string>#include"rclcpp/rclcpp.hpp"#include"std_msgs/msg/string.hpp"usingnamespacestd::chrono_literals;/* This example creates a subclass of Node and uses std::bind() to register a * member function as a callback from the timer. ...
#include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/header.hpp" #include <string> #include <iostream> class MyNode : public rclcpp::Node{ public: MyNode() : Node("test_node") { } void callback(const std_msgs::msg::Header::SharedPtr msg, std::string topic_name) { (void)msg; s...
voidcmdVelReceived(constgeometry_msgs::Twist::ConstPtr& cmd_vel){std::cout<<"cmdVel Received: speed = "<< cmd_vel->linear.x <<" angular = "<< cmd_vel->angular.z <<std::endl;if(bumper_warning.load()) roomba->drive(-0.2,0);elseif(ir_warning.load()) roomba->drive(0, cmd_vel...
boost::optional<Json::Value> getMsg(std::chrono::milliseconds const& timeout) override { std::shared_ptr<msg> m; { std::unique_lock<std::mutex> lock(m_); if(! cv_.wait_for(lock, timeout, [&] { return ! msgs_.empty(); })) return boost::none; m = std::move(...
&TestClass::stringCallback, this, std::placeholders::_1); stringSub_ = node_->create_subscription<std_msgs::msg::String>( "/string", 1, fcn); int16Pub_ = node_->create_publisher<std_msgs::msg::Int16>( "/int",1); auto pubCB = [this](){ std_msgs::msg::Int16 msg; msg....
allocator<void> > >(geometry_msgs::msg::PoseStamped_<std::allocator<void> > const&, geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::duration<long, std...
传递 map...> >(m_svrmsgs)); 看看,没有标准库实现的简洁吧,到底是山寨货啊~ 幸好我们已经封装了inserter_t 类型,可以改写成这样: db_fetch_server_msg(inserter_t...现在我们再看下项目的文件组成: + map_inserter.hpp: map_inserter声明+实现 + engine.h: WorkEngine 声明 (包含 map_inserter.hpp...
voidcmdVelReceived(constgeometry_msgs::Twist::ConstPtr& cmd_vel){std::cout<<"cmdVel Received: speed = "<< cmd_vel->linear.x <<" angular = "<< cmd_vel->angular.z <<std::endl;if(bumper_warning.load()) roomba->drive(-0.2,0);elseif(ir_warning.load()) roomba->drive(0, cmd_vel...
I noticed that my total RAM increased to 75% usage and swap was being used. I closed the browser 2 or 3 times and eliminated the swap also, to get like 10% RAM back (so to 65%). on reopening the browser: twister-html didn't react and I s...