ROS-learning-Unknown

• 2017/5/23
  when implementing the  simulation for 'Heatmap' , you can download it by ' git clone https://github.com/eybee/heatmap
  
  • Stage_ros
  • amcl
• 2017/5/25
  
  Calling the coverage planning path function from "Heatmap" c++ class in python, we need produce py file for c++ class through SWIG tools. It can transfer the .h file where a class is defined to .py file with .so file. In python we can import this .py file and use its member function .
  •  SWIG
    

    如何实现 C/C++ 与 Python 的通信？

    • swig -c++ -python great_class.i

    • g++ -fPIC -shared great_class_wrap.cxx -o _great_class.so  -I/usr/include/python2.7/ -lpython2.7
      >>> import great_class
      >>> c = great_class.Great()
      >>> c.setWall(5)
      >>> c.getWall()