Qt-ros创建yaml文件

---

title: Qt-ros创建yaml文件
date: 2020-07-15 16:49:32
tags: 记录

---

写入文件

scan_pub.cpp

#include "ros/ros.h"
#include <yaml-cpp/yaml.h>
#include<fstream>


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

  YAML::Node camera_config_nodes;

  camera_config_nodes["width"] = 1920;
  camera_config_nodes["height"] = 1080;

  camera_config_nodes["cam0"]["intrinsics"][0] = 1000;
  camera_config_nodes["cam0"]["intrinsics"][1] = 1000;
  camera_config_nodes["cam0"]["intrinsics"][2] = 99;
  camera_config_nodes["cam0"]["intrinsics"][3] = 0;

  std::ofstream fout("/home/teabot/test/test1.yaml");
  fout << camera_config_nodes;
  fout.close();

  while (ros::ok())
  {

  }
  return 0;
}

CmakeLists.txt

add_executable(scan_pub src/scan_pub.cpp)
target_link_libraries(scan_pub ${catkin_LIBRARIES} yaml-cpp)

test1.yaml

width: 1920
height: 1080
cam0:
  intrinsics:
    - 1000
    - 1000
    - 99
    - 0