实习记录（一）：用ros一个节点封装成类实现topic收发

用ros一个节点封装成类实现topic收发

2020.07.16~2020.07.17

1.任务

已有一个 filename.bag，其中有多个topic信息
点云 - topic名为 xxxx, 要求接收点云，发出点云的size (std_msgs/UInt32)
用一个类实现

2.环境 & 工具

ubuntu16.04
ROS kinetic
C++
git

3.准备工作

1）新建工作空间，新建包

$ source /opt/ros/kinetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ catkin_create_pkg pkg_name std_msgs rospy roscpp

2）vscode配置

#查看隐藏文件 ctrl + H
#工程文件夹路径下去生成.vscode文件夹，里面的c_cpp_properties.json
#配置完后的头文件报错点击vscode智能提示小灯泡解决
{
   
    "configurations": [
        {
   
            "browse": {
   
                "databaseFilename": "",
                "limitSymbolsToIncludedHeaders": true
            },
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/kinetic/include/**",
                "/usr/include/**",
                "/usr/local/include/**",
                "/opt/ros/kinetic/include",
                "${workspaceFolder}/src/serial_writer/include"
            ],
            "name": "Linux",
            "intelliSenseMode": "gcc-x64",
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++17",
            "compileCommands": "${workspaceFolder}/build/compile_commands.json"
        }
    ],
    "version": 4
}

3）在filename.bag文件所在路径打开新的终端,查看点云的topic类型，然后查这个类型的成员变量有哪些，写代码会用到

$ rosbag info filename.bag

4.代码

//main.cpp
#include "points_size.h"

int main(int argc, c