ros::init(argc, argv, "kitti_helper"); ros::NodeHandle n("~"); std::string dataset_folder, sequence_number, output_bag_file; n.getParam("dataset_folder", dataset_folder); n.getParam("sequence_number", sequence_number); std::cout << "Reading sequence " << sequence_number << " from " << dataset_folder << '\n'; bool to_bag; n.getParam("to_bag", to_bag); if (to_bag) n.getParam("output_bag_file", output_bag_file); int publish_delay; n.getParam("publish_delay", publish_delay); publish_delay = publish_delay <= 0 ? 1 : publish_delay; ros::Publisher pub_laser_cloud = n.advertise<sensor_msgs::PointCloud2>("/velodyne_points", 2); image_transport::ImageTransport it(n); image_transport::Publisher pub_image_left = it.advertise("/image_left", 2); image_transport::Publisher pub_image_right = it.advertise("/image_right", 2); ros::Publisher pubOdomGT = n.advertise<nav_msgs::Odometry> ("/odometry_gt", 5); nav_msgs::Odometry odomGT; odomGT.header.frame_id = "/camera_init"; odomGT.child_frame_id = "/ground_truth"; ros::Publisher pubPathGT = n.advertise<nav_msgs::Path> ("/path_gt", 5); nav_msgs::Path pathGT; pathGT.header.frame_id = "/camera_init"; std::string timestamp_path = "sequences/" + sequence_number + "/times.txt"; std::ifstream timestamp_file(dataset_folder + timestamp_path, std::ifstream::in); std::string ground_truth_path = "results/" + sequence_number + ".txt"; std::ifstream ground_truth_file(dataset_folder + ground_truth_path, std::ifstream::in); rosbag::Bag bag_out; if (to_bag) bag_out.open(output_bag_file, rosbag::bagmode::Write); Eigen::Matrix3d R_transform; R_transform << 0, 0, 1, -1, 0, 0, 0, -1, 0; Eigen::Quaterniond q_transform(R_transform); std::string line; std::size_t line_num = 0; ros::Rate r(10.0 / publish_delay); 解释一下

int main(int argc, char** argv) { std::string logs_path = "/home/sage/logs/"; std::string folder1_name = logs_path + get_current_time_M_10(); create_folder(folder1_name); ros::init(argc, argv, "log_fetch"); ros::NodeHandle nh; ros::Subscriber sub = nh.subscribe("/rosout", 1000, callback); //ros::Timer timer1 = nh.createTimer(ros::Duration(600), new_folder_callback); //std::this_thread::sleep_for(std::chrono::seconds(1)); //ros::spin(); bool s=true; while(s){ auto now1 = std::chrono::system_clock::now(); std::time_t now_c1 = std::chrono::system_clock::to_time_t(now1); std::tm parts1 = *std::localtime(&now_c1); if (parts1.tm_min % 10 == 0) { std::string folder_name = logs_path + get_current_time(); create_folder(folder_name); s=false; } } ros::Timer timer1 = nh.createTimer(ros::Duration(600), new_folder_callback); ros::spin(); return 0; }如何修改代码能使程序不发生阻塞

ros::init(argc, argv, "log_fetch"); ros::NodeHandle nh; ros::Subscriber sub = nh.subscribe("/rosout", 1000, callback); ros::Timer timer1 = nh.createTimer(ros::Duration(600), new_folder_callback); ...

#include <sstream> #include "ros/ros.h" #include "std_msgs/String.h" int main(int argc, char **argv) { ros::init(argc, argv, "talker"); ros::NodeHandle n; ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); ros::Rate loop_rate(1); int count = 0; while (ros::ok()) { std_msgs::String msg; std::stringstream ss; ss << "hello world " << count; msg.data = ss.str(); ROS_INFO("%s", msg.data.c_str()); chatter_pub.publish(msg); ros::spinOnce(); loop_rate.sleep(); count+=2; } return 0; }注释一下都是什么意思

ros::init(argc, argv, "talker"); // 初始化 ROS 节点 ros::NodeHandle n; // 创建节点句柄 ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); // 创建 Publisher 对象，用于发布 ...

int main(int argc, char** argv) { ros::init(argc, argv, "msckf_mono_node"); ros::NodeHandle nh; msckf_mono::RosInterface ri(nh); ros::spin(); }

它首先通过ros::init函数初始化ROS节点，并指定节点名称为"msckf_mono_node"。然后创建一个NodeHandle对象，用于与ROS系统进行通信。接着创建一个RosInterface对象ri，用于封装MSCKF-Mono算法的ROS接口。最后通过ros...

int i; uint8_t buf[41]; ros::init(argc, argv, "hi226_imu"); ros::NodeHandle n("~"); name = ros::this_node::getName();

接下来通过ros::NodeHandle()函数创建了一个节点句柄n，其中波浪号"~"表示使用私有命名空间。最后通过ros::this_node::getName()函数获取节点的名称并存储在name变量中。这些操作都是为了让ROS节点能够正常运行，...

解释以下代码#include <ros/ros.h> #include "DbwNode.h" int main(int argc, char **argv) { ros::init(argc, argv, "raptor_dbw"); ros::NodeHandle node; ros::NodeHandle priv_nh("~"); // create DbwNode class raptor_dbw_can::DbwNode n(node, priv_nh); // handle callbacks until shut down ros::spin(); return 0; }

首先，通过ros::init(argc, argv, "raptor_dbw")来初始化ROS节点，并传递节点名称"raptor_dbw"。然后，通过ros::NodeHandle node来创建一个节点句柄，用于与ROS系统进行通信。ros::NodeHandle priv_nh("~")...

#include "ros/ros.h" #include "std_msgs/String.h" void chatterCallback(const std_msgs::String::ConstPtr& msg) { ROS_INFO("I heard: [%s]", msg->data.c_str()); } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); ros::spin(); return 0; }

这段代码是一个ROS节点的C++实现，它订阅了一个名为“chatter”的主题，并且在回调函数chatterCallback中打印出接收到的消息。当有消息到达时，ROS节点会调用回调函数来处理数据。其中，ROS_INFO是ROS提供的一个打印...

将serialized_data用websocket wss发送，#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }

这段代码的功能是订阅ROS节点中的/perception_node/perception_objects主题，当有数据到来时，会调用perceptionCallback()函数进行处理。在这个函数中，首先尝试将接收到的数据解析为PerceptionObstacles类型的数据...

orb_slam_ros:带有ROS接口的ORB_SLAM2

Orb_slam2_ros 具有ROS接口的ORB_SLAM2此存储库是ROS中的ORB-SLAM2的简单演示。从SLAM生成的数据（例如相机姿态，关键帧轨迹和点云）将发布在ROS中。在此根目录中独立编译Pangolin 运行build.sh来编译项目运行...

帮我把这段代码每一段都写上其含义的注释#include "ros/ros.h" int main(int argc, char *argv[]) { ros::init(argc,argv,"hello"); ros::NodeHandle nodeHandle; ROS_INFO("hello world!"); return 0; }

ros::init(argc,argv,"hello"); // 初始化ROS节点，节点名为"hello" ros::NodeHandle nodeHandle; // 创建ROS节点句柄 ROS_INFO("hello world!"); // 输出"hello world!"信息 return 0; // 返回0，表示程序正常...

ros::init(int&, char**, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'

这个错误可能是由于ROS版本不兼容导致的。ROS版本之间可能会有一些差异，例如函数参数的类型...另外，你也可以尝试在初始化ROS时使用默认参数ROS::init(argc, argv, "node_name")，这样可以避免一些版本不兼容的问题。

星图识别matlab代码-awesome-ros-mobile-robot::smiling_face_with_sunglasses:精选的出色移动机器人基于ROS的研究资源列表（包括SLAM，里程

该存储库提供了一些有关基于ROS的自主移动机器人（AMR）研究的有用资源和信息。它主要集中在移动机器人的基本功能上（如里程表， SLAM ，导航和操纵）。（包括中英文资料）指数： 11-1。著名的机器人公司 11-2。...

ROS::TF_TePRA2013_Foote.pdf

tf: The transform library tf is a package that lets the user keep track of multiple coordinate frames over time. tf maintains the relationship between coordinate frames in a tree structure buffered in...

ourbotmanager_ros:存放ros2工作区源文件的ros2_ws存储库

我们的主题是"ourbotmanager_ros"，这是一个ROS2工作区源文件存储库，主要用于管理和控制机器人操作。ROS（Robot Operating System）是一个开源操作系统，专为机器人设备和软件开发设计，而ROS2是其最新版本，提供了...

std:::string和std_msgs::string的区别

ros::init(argc, argv, "my_node"); ros::NodeHandle nh; ros::Publisher pub = nh.advertise<std_msgs::String>("my_topic", 10); std_msgs::String msg; msg.data = "Hello, world!"; pub.publish(msg); ...

ros::init(argc,argv,"multipoints_nav"); //初始化节点 ros::init(argc, argv, "tts_node"); ros::NodeHandle n;

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int main(int argc, char** argv) { ros::init(argc, argv, "msckf_mono_node"); ros::NodeHandle nh; msckf_mono::RosInterface ri(nh); ros::spin(); }

int i; uint8_t buf[41]; ros::init(argc, argv, "hi226_imu"); ros::NodeHandle n("~"); name = ros::this_node::getName();

orb_slam_ros:带有ROS接口的ORB_SLAM2

帮我把这段代码每一段都写上其含义的注释#include "ros/ros.h" int main(int argc, char *argv[]) { ros::init(argc,argv,"hello"); ros::NodeHandle nodeHandle; ROS_INFO("hello world!"); return 0; }

ros::init(int&, char**, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'

星图识别matlab代码-awesome-ros-mobile-robot::smiling_face_with_sunglasses:精选的出色移动机器人基于ROS的研究资源列表（包括SLAM，里程

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