ros 程序小工具

ros / 移除

name_drone.erase(std::remove(name_drone.begin(), name_drone.end(), '/'), name_drone.end());

计算耗时1

auto begin = std::chrono::steady_clock::now();

  auto end_time = std::chrono::steady_clock::now();
  auto diff = end_time - begin;
  std::cout << "1st loop:  " << std::chrono::duration_cast<std::chrono::milliseconds>(diff).count() << " ms "
            << std::endl;

计算耗时2

  ros::WallTime start = ros::WallTime::now();
  ros::WallDuration runtime = ros::WallTime::now() - start;
  printf("runtime = %f ms\n", runtime.toSec() * 1000);

终端打印输出颜色控制

termcolor.h 头文件

点云地图保存

rosrun pcl_ros pointcloud_to_pcd input:=/laser_cloud_surround

地图格式转换

pcl_pcd2ply xxx.pcd xxxxxxx.ply

use default SIGINT handler so CTRL+C works

  signal(SIGINT, SIG_DFL);

清屏　将光标位置移动到高度第一行和宽度第一行

cout << "\033[2J";
printf("\033[%d;%dH", 1, 1);