代码接口的标准示范

#include <stdio.h>
#include <malloc.h>
#include <string>

typedef unsigned int            uint32;
typedef double                  float64;

struct time_struct
{
    uint32 sec;
    uint32 nsec;
};


struct std_msgs_Header
{
    uint32 seq;
    time_struct stamp;
    std::string frame_id;
};

struct geometry_msgs_Quaternion
{
    float64 x;
    float64 y;
    float64 z;
    float64 w;
};

struct geometry_msgs_Vector3 
{
    float64 x;
    float64 y;
    float64 z;
};


struct sensor_msgs_Imu
{
    std_msgs_Header header;
    geometry_msgs_Quaternion orientation;
    float64 orientation_covariance[9];
    geometry_msgs_Vector3 angular_velocity;
    float64 angular_velocity_covariance[9];
    geometry_msgs_Vector3 linear_acceleration;
    float64 linear_acceleration_covariance[9];
};

struct sensor_msgs_Imu *Imu_SensorMsgs(void *ptr)
{
    struct sensor_msgs_Imu *pmod = (struct sensor_msgs_Imu *)malloc(sizeof(struct sensor_msgs_Imu));
    //解析填充结构体
    return pmod;
}