ROS中的ConstPtr&

潘帕斯雄鹰GSG

于 2019-03-05 20:07:30 发布

阅读量5.2k

点赞数 1

分类专栏： ROS点滴文章标签： ROS

ROS点滴专栏收录该内容

3 篇文章

订阅专栏

本文探讨了在ROS(机器人操作系统)中使用ConstPtr类型指针传递消息至回调函数的优势，避免了复制大型消息如sensor_msgs::PointCloud2时的性能损耗。通过实例解释了::Ptr与::ConstPtr在C++代码中的定义与作用。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

void chatterCallback(const std_msgs::String::ConstPtr& msg) 

     {ROS_INFO("I heard: [%s]", msg->data.c_str());}

When messages are automatically generated into C++ code, there are several typedefs defined. One of them is ::Ptr, which is typedef-ed to be a boost::shared_ptr<MSG>, and another is ::ConstPtr which is boost::shared_ptr<MSG const>.

By passing a const pointer into the callback, we avoid doing a copy. While this might not make much difference for std_msgs::String, it can make a huge difference for sensor_msgs::PointCloud2.

https://answers.ros.org/question/212857/what-is-constptr/