ROS msg数据结构记录

0.引言

遇到一个记录一个。

• rviz中单位为m

1.nav_msgs/Path.msg

• ref
  
  注意msg是poses也就是pose构成的数组，因此path的数据是一直递增不清除的。换句话讲就是要注意path的作用域，一般定义为全局变量或定义在main函数里或定义为static变量。

#include <ros/ros.h>
#include <ros/console.h>
#include <nav_msgs/Path.h>
#include <std_msgs/String.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_broadcaster.h>
#include <tf/tf.h>

main (int argc, char **argv)
{
    ros::init (argc, argv, "showpath");

    ros::NodeHandle ph;
    ros::Publisher path_pub = ph.advertise<nav_msgs::Path>("trajectory",1, true);

    ros::Time current_time, last_time;
    current_time = ros::Time::now();
    last_time = ros::Time::now();

    nav_msgs::Path path;
    //nav_msgs::Path path;
    path.header.stamp=current_time;
    path.header.frame_id="odom";


    double x = 0.0;
    double y = 0.0;
    double th = 0.0;
    double vx = 0.1;
    double vy = -0.1;
    double vth = 0.1;

    ros::Rate loop_rate(1);
    while (ros::ok())
    {

        current_time = ros::Time::now();
        //compute odometry in a typical way given the velocities of the robot
        double dt = 0.1;
        double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
        double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
        double delta_th = vth * dt;

        x += delta_x;
        y += delta_y;
        th += delta_th;


        geometry_msgs::PoseStamped this_pose_stamped;
        this_pose_stamped.pose.position.x = x;
        this_pose_stamped.pose.position.y = y;

        geometry_msgs::Quaternion goal_quat = tf::createQuaternionMsgFromYaw(th);
        this_pose_stamped.pose.orientation.x = goal_quat.x;
        this_pose_stamped.pose.orientation.y = goal_quat.y;
        this_pose_stamped.pose.orientation.z = goal_quat.z;
        this_pose_stamped.pose.orientation.w = goal_quat.w;

        this_pose_stamped.header.stamp=current_time;
        this_pose_stamped.header.frame_id="odom";
        path.poses.push_back(this_pose_stamped);

        path_pub.publish(path);
        ros::spinOnce();               // check for incoming messages

        last_time = current_time;
        loop_rate.sleep();
    }

    return 0;
}

2.geometry_msgs/TransformStamped.msg

geometry_msgs/Transform定义的就是frame_id与child_frame_id之间的变换。

3.tf2_msgs/TFMessage

4.nav_msgs/OccupancyGrid

ros::Publisher mapPub = nodeHandler.advertise<nav_msgs::OccupancyGrid>("laser_map", 1, true);

//发布地图．
void PublishMap(ros::Publisher &map_pub)
{
    nav_msgs::OccupancyGrid rosMap;

    rosMap.info.resolution = mapParams.resolution;
    rosMap.info.origin.position.x = 0.0;
    rosMap.info.origin.position.y = 0.0;
    rosMap.info.origin.position.z = 0.0;
    rosMap.info.origin.orientation.x = 0.0;
    rosMap.info.origin.orientation.y = 0.0;
    rosMap.info.origin.orientation.z = 0.0;
    rosMap.info.origin.orientation.w = 1.0;

    rosMap.info.origin.position.x = mapParams.origin_x;
    rosMap.info.origin.position.y = mapParams.origin_y;
    rosMap.info.width = mapParams.width;
    rosMap.info.height = mapParams.height;
    rosMap.data.resize(rosMap.info.width * rosMap.info.height);

    //0~100
    int cnt0, cnt1, cnt2;
    cnt0 = cnt1 = cnt2 = 100;
    for (int i = 0; i < mapParams.width * mapParams.height; i++)
    {
        if (pMap[i] == 50)
        {
            rosMap.data[i] = -1.0;
        }
        else
        {

            rosMap.data[i] = pMap[i];
        }
    }

    rosMap.header.stamp = ros::Time::now();
    rosMap.header.frame_id = "map";

    map_pub.publish(rosMap);
}

5.nav_msgs/Odometry