Ros工具类

ros中其实是存在工具类的，这个类是任何消息的通用模板。

void RosCommunication::TrackDecisionToPlanner(const topic_tools::ShapeShifter  &msg){
    if((static_cast<std::string>(ros::message_traits::MD5Sum<msgs_ht2::Track_Decision_To_Planner>::value()) ==msg.getMD5Sum())
            &&(static_cast<std::string>(ros::message_traits::DataType<msgs_ht2::Track_Decision_To_Planner>::value()) == msg.getDataType()))
    {
        boost::shared_ptr<msgs_ht2::Track_Decision_To_Planner> msg1 = msg.instantiate<msgs_ht2::Track_Decision_To_Planner>();
        emit updateTrackDecisionToPlanner(msg1->decision_velocity,msg1->power_state,msg1->stop,msg1->load,msg1->point_search_set);
        emit updateTrackDecisionToPlanner3(msg1->decision_velocity,msg1->power_state,msg1->avoidreset,msg1->point_search_set);
    }
    else if((static_cast<std::string>(ros::message_traits::MD5Sum<msgs_ht1::Track_Decision_To_Planner>::value()) ==msg.getMD5Sum())
        &&(static_cast<std::string>(ros::message_traits::DataType<msgs_ht1::Track_Decision_To_Planner>::value()) == msg.getDataType()))
    {
        boost::shared_ptr<msgs_ht1::Track_Decision_To_Planner> msg1 = msg.instantiate<msgs_ht1::Track_Decision_To_Planner>();
        emit updateTrackDecisionToPlanner(msg1->decision_velocity,msg1->power_state,msg1->stop,msg1->load,msg1->point_search_set);
        emit updateTrackDecisionToPlanner2(msg1->decision_velocity,msg1->power_state,msg1->avoidreset,msg1->point_search_set
                                           ,msg1->slow_down_flag,msg1->current_file_location);
    }

}

topic_tools::ShapeShifter这个类感兴趣可以去查找文档查查。这个接口可以接收任何消息不用指定类型。