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ros melodic源码分析之消息订阅subscribe
一个简单的订阅程序如下:File: /home/lgy/ros_catkin_ws/src/ros_tutorials/roscpp_tutorials/listener/listener.cpp29: #include "ros/ros.h"30: #include "std_msgs/String.h"36: void chatterCallback(const std_msgs::String::ConstPtr& msg)37: {38: ROS_INFO("I hear原创 2021-03-19 14:22:47 · 1383 阅读 · 0 评论 -
ros melodic源码分析之消息发布msg publish
一个简单的消息发布使用案例如下代码所示本代码出自ros源码src/ros_tutorials/roscpp_tutorials/talker/talker.cpp#include "ros/ros.h"#include "std_msgs/String.h"#include <sstream>int main(int argc, char **argv){ ros::init(argc, argv, "talker"); **ros::NodeHandle n;**原创 2021-03-18 14:19:41 · 686 阅读 · 0 评论 -
ros melodic源码分析之connect_manager
一、首先分析transporttransport封装了tcp udp通信,将socket基本操作封装起来,加入一堆回调函数,当事件触发时调用相应的回调函数。先看transport基类:File: ros_comm/roscpp/include/ros/transport/transport.h56: class ROSCPP_DECL Transport : public boost::enable_shared_from_this<Transport>57: {58: publi原创 2021-03-16 18:35:42 · 639 阅读 · 0 评论 -
ros melodic源码分析之poll_manager
本文分析ros melodic源码涉及到的poll监控一、poll底层操作涉及源文件 io.cpp io.h,关键源码如下int create_socket_watcher() { epfd = ::epoll_create1(0); return epfd;}void add_socket_to_watcher(int epfd, int fd) { struct epoll_event ev; bzero(&ev, sizeof(ev)); ev.events原创 2021-03-15 18:29:11 · 324 阅读 · 0 评论 -
nvidia JetPack4.4.1 L4T32.4.4 autoware1.14 opencv库冲突解决办法
autoware1.14 需要opencv3的库,nvidia jetpack4 安装后为opencv4如何替换呢?autoware1.14 安装opencv3需要的opencv库libopencv3.2 libopencv-calib3d3.2 libopencv-contrib3.2 libopencv-core3.2 libopencv-dev libopencv-features2d3.2 libopencv-flann3.2 libopencv-highgui3.2 libopencv-i原创 2020-12-12 11:10:26 · 440 阅读 · 1 评论