第一步:在cartographer/cloud/proto的map_builder_service.proto文件中添加request和responce数据结构,如下,然后编译生成。
message agv_UpdateTrajectoryRequest{
cartographer.transform.proto.Rigid3d initial_pose = 1;
string trajectory_id = 2;
bool use_initial_pose = 3
第一步:在cartographer/cloud/proto的map_builder_service.proto文件中添加request和responce数据结构,如下,然后编译生成。
message agv_UpdateTrajectoryRequest{
cartographer.transform.proto.Rigid3d initial_pose = 1;
string trajectory_id = 2;
bool use_initial_pose = 3