在利用ROS发布pcl::pointXYZ数据时,出现错误。
运行时出现错误:ERROR: terminate called after throwing an instance of 'std::runtime_error' what(): Time is out of dual 32-bit range
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
int main(int argc, char** argv)
{
ros::init (argc, argv, "pub_pcl");
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);
PointCloud::Ptr msg (new PointCloud);
msg->header.frame_id = "some_tf_frame";
msg->height = msg->width = 1;
msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));
ros::Rate loop_rate(4);
while (nh.ok())
{
msg->header.stamp = ros::Time::now ();
pub.publish (msg);
ros::spinOnce ();
loop_rate.sleep ();
}
}
出现错误:
error: no se puede convertir ‘ros::Time’ a ‘uint64_t {aka long unsigned int}’ en la asignación (it's in Spanish, I don't know how to change my compiler language)
error: 'ros::Time' cannot be converted to 'uint64_t {aka long unsigned int}' in assignment
参考:http://answers.ros.org/question/172730/pcl-header-timestamp/
pcl_conversions
has conversion functions :http://docs.ros.org/indigo/api/pcl_co...
To convert the time:
#include <pcl_conversions/pcl_conversions.h>
...
pcl_conversions::toPCL(ros::Time::now(), point_cloud_msg->header.stamp);
Or convert an entire header from a ros message:
pcl_conversions::toPCL(ros_msg->header, point_cloud_msg>header);