ROS 之 advertise 详解

最新推荐文章于 2024-07-24 15:35:05 发布

Dr. Qing

最新推荐文章于 2024-07-24 15:35:05 发布

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分类专栏： ROS 系统文章标签： SLAM Karto

本文链接：https://blog.csdn.net/Fourier_Legend/article/details/82109817

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在学习过程中接触到如下的一段话


  // ROS handles
  ros::NodeHandle node_;
  tf::TransformListener tf_;
  tf::TransformBroadcaster* tfB_;
  message_filters::Subscriber<sensor_msgs::LaserScan>* scan_filter_sub_;
  tf::MessageFilter<sensor_msgs::LaserScan>* scan_filter_;
  ros::Publisher sst_;
  ros::Publisher marker_publisher_;
  ros::Publisher sstm_;
  ros::ServiceServer ss_;

  // Set up advertisements and subscriptions
  tfB_ = new tf::TransformBroadcaster();
  sst_ = node_.advertise<nav_msgs::OccupancyGrid>("map", 1, true);
  sstm_ = node_.advertise<nav_msgs::MapMetaData>(<