gazebo 直接获取传感器数据_[ROS]一些传感器数据读取融合问题的思考

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29

32#ifndef TF_MESSAGE_FILTER_H33 #define TF_MESSAGE_FILTER_H

34

35 #include

36 #include

37 #include

38

39 #include

40 #include

41 #include

42 #include

43 #include

44 #include

45 #include

46 #include

47 #include

48

49 #include

50

51 #include

52 #include

53

54 #define TF_MESSAGEFILTER_DEBUG(fmt, ...) \

55 ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]:"fmt, getTargetFramesString().c_str(), __VA_ARGS__)56

57 #define TF_MESSAGEFILTER_WARN(fmt, ...) \

58 ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]:"fmt, getTargetFramesString().c_str(), __VA_ARGS__)59

60 namespacetf61{62

63 namespacefilter_failure_reasons64{65 enumFilterFailureReason66{68Unknown,70OutTheBack,72EmptyFrameID,73};74}75typedef filter_failure_reasons::FilterFailureReason FilterFailureReason;76

77 classMessageFilterBase78{79 public:80 virtual ~MessageFilterBase(){}81 virtual void clear() = 0;82 virtual void setTargetFrame(const std::string& target_frame) = 0;83 virtual void setTargetFrames(const std::vector<:string>& target_frame