节点的主函数代码如下:
int main(int argc, char **argv)
{
ros::init(argc, argv, "velocity_set");
ros::NodeHandle nh;
ros::NodeHandle private_nh("~");
bool use_crosswalk_detection;
std::string points_topic;
private_nh.param<bool>("use_crosswalk_detection", use_crosswalk_detection, true);
private_nh.param<std::string>("points_topic", points_topic, "points_lanes");
// class声明类
CrossWalk crosswalk;
VelocitySetPath vs_path;
VelocitySetInfo vs_info;
// velocity set subscriber
ros::Subscriber waypoints_sub = nh.subscribe(