Far planne初始化中的Callback函数(1)
reset_graph_sub_ = nh.subscribe("/reset_visibility_graph", 5, &FARMaster::ResetGraphCallBack, this);
ResetGraphCallBack
inline void ResetGraphCallBack(const std_msgs::EmptyConstPtr& msg) {
is_reset_env_ = true;
}
很简单,就把msg消息接收然后设置is_reset_env_为true
odom_sub_ = nh.subscribe("/odom_world", 5, &FARMaster::OdomCallBack, this);
OdomCallBack
void FARMaster::OdomCallBack(const nav_msgs::OdometryConstPtr& msg) {
// transform from odom frame to mapping frame
std::string odom_frame = msg->header.frame_id;
t