ros1 c++ 对 rviz的2D nav goal、publish point进行接收

2D nav goal

对于2D nav goal

ros::NodeHandle nh;
ros::Subscriber subGoal;
ros::Subscriber rvizGoal;
Goal = nh.subscribe<geometry_msgs::PoseStamped>("/move_base_simple/goal", 5, &TraversabilityPRM::goalPosHandler, this);

subscribe中，模板参数为订阅的消息类型，
函数第一个参数为topic名
第二为处理队列大小
第三是回调函数地址
第四为回调函数所处的类，this即当前类
回调函数中类似如下配置

    void goalPosHandler(const geometry_msgs::PoseStampedConstPtr& goal){
    	
        goalState->x[0] = goal->pose.position.x;
        goalState->x[1] = goal->pose.position.y;
        goalState->x[2] = goal->pose.position.z;
        planningFlag = true;
    }

消息类型、消息包含什么可以通过rostopic echo、rostopic info 查询，也可以Google

publish point

publish point同理，topic是/clicked_point，类型是geometry_msgs::PointStamped，内容存在point.
x，point.y，point.z中