问题1:remap映射方式:
pub:
<remap from="/源话题" to="/目标话题" />
sub:
<remap from="/所需话题" to="/已知话题" />
问题2:订阅回调函数
在类中使用ros订阅话题,回调函数是需要摄制成静态成员函数
private:
static void InitialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg);
若该回调函数想要调用类中非静态成员或非静态成员函数需要设置一个该类的静态对象,并在默认构造函数中将this赋值给该对象,并在类外对该静态对象初始化。
定义静态对象
private:
static SetPose *m_this_;
geometry_msgs::Pose initial_pose_;
静态对象赋值
m_this_ = this;
类外初始化
SetPose *SetPose::m_this_;
静态函数调用非静态成员
void SetPose::InitialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg){
m_this_->initial_pose_ = msg->pose.pose;
}
使用ogm2pgbm功能包问题记录
问题3
RLException: Roslaunch got a 'No such file or directory' error while attempting to run:
原python中#!/usr/bin/python
改为#!/usr/bin/python3
问题4
Traceback (most recent call last):
File "/home/a/work/src/ogm2pgbm/scripts/trj_plnr.py", line 9, in <module>
import thread
ModuleNotFoundError: No module named 'thread'
python3 导入thread报错,把thread改为_thread就好了
问题5
Traceback (most recent call last):
File "/home/a/work/src/ogm2pgbm/scripts/trj_plnr.py", line 16, in <module>
from skimage.morphology import skeletonize_3d
ModuleNotFoundError: No module named 'skimage'
查看是否有对应库,有删除
pip show scikit-image
无,安装
sudo apt install python3-pip
pip3 install scikit-image