[已解决]C++问题求助！！

Freedy_S

有没有大佬告诉我一下这个代码写的是啥意思 求助！！顺便大致标注一下～谢谢！

#include"utility.h"


class ConversionPosion
{
public:
    
    ConversionPosion()
    {   
        SubOdometry = nh.subscribe<nav_msgs::Odometry>("/integrated_to_init",5,&ConversionPosion::OdometryHandle,this);
        pubOdometry = nh.advertise<geometry_msgs::Pose2D>("/my_position",5);
    }

    void OdometryHandle(const nav_msgs::Odometry::ConstPtr &msg)
    {
        currentHeader = msg->header;
        
        double roll,pitch,yaw;

        geometry_msgs::Quaternion geoQut = msg->pose.pose.orientation;
        tf::Matrix3x3(tf::Quaternion(geoQut.z, -geoQut.x, -geoQut.y, geoQut.w)).getRPY(roll,pitch,yaw);

        My_Position.theta = (yaw/PI)*180;
        My_Position.x = msg->pose.pose.position.x;
        My_Position.y = msg->pose.pose.position.y;

        pubOdometry.publish(My_Position);

    }

    // void OdometryHandle(const nav_msgs::Odometry::ConstPtr &msg)
    // {
    //     geometry_msgs::PoseStamped thispose;
    //     thispose.header.frame_id = msg->header.frame_id;
    //     thispose.header.stamp = ros::Time::now();
    //     thispose.pose.position.x = msg->pose.pose.position.x;
    //     thispose.pose.position.y = msg->pose.pose.position.y;
    //     thispose.pose.position.z = msg->pose.pose.position.z;
    //     thispose.pose.orientation = msg->pose.pose.orientation;

    //     path.poses.push_back(thispose);
    //     path.header.frame_id = msg->header.frame_id;
    //     path.header.stamp = ros::Time::now();

    //     pubOdometry.publish(path);

    // }
    
    

private:
    ros::NodeHandle nh;
    ros::Subscriber SubOdometry;
    ros::Publisher pubOdometry;
    
    std_msgs::Header currentHeader;

    geometry_msgs::Pose2D My_Position;
    nav_msgs::Path path;
};


int main(int argc, char *argv[])
{
    ros::init(argc, argv, "lego_loam");
    
    ConversionPosion Cp;

    ROS_INFO("\033[1;32m---->\033[0m  ConversionPosion Started.");

    ros::spin();
    
    return 0;
}

最佳答案

月排行榜 / 总排行榜

lvk

2022-12-31 15:48:37

大概就是定义了一个用来订阅机器人nav_msgs::Odometry消息，然后经OdometryHandle函数转换为geometry_msgs::Pose2D消息并发布出去的类；在主函数里初始化了ros并定义一个那个类的对象，然后打印了一下信息，最后进入spin,此时机器人会不断订阅nav_msgs::Odometry消息，发布geometry_msgs::Pose2D消息。

跳转到最佳答案楼层

Freedy_S

这是头文件

#ifndef _UTILITY_LIDAR_ODOMETRY_H_
#define _UTILITY_LIDAR_ODOMETRY_H_


#include <ros/ros.h>

#include <sensor_msgs/Imu.h>
#include <sensor_msgs/PointCloud2.h>
#include <nav_msgs/Odometry.h>
#include<nav_msgs/Path.h>
#include<geometry_msgs/PoseStamped.h>
#include<geometry_msgs/Pose2D.h>
#include <geometry_msgs/Quaternion.h>
#include "cloud_msgs/cloud_info.h"

#include <opencv/cv.h>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/range_image/range_image.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/common/common.h>
#include <pcl/registration/icp.h>

#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>
 
#include <vector>
#include <cmath>
#include <algorithm>
#include <queue>
#include <deque>
#include <iostream>
#include <fstream>
#include <ctime>
#include <cfloat>
#include <iterator>
#include <sstream>
#include <string>
#include <limits>
#include <iomanip>
#include <array>
#include <thread>
#include <mutex>

#define PI 3.14159265

using namespace std;

typedef pcl::PointXYZI  PointType;

extern const string pointCloudTopic = "/lidar_points";
extern const string imuTopic = "";

// Save pcd
extern const string fileDirectory = "/home/lizhiyuan/";

// Using velodyne cloud "ring" channel for image projection (other lidar may have different name for this channel, change "PointXYZIR" below)
extern const bool useCloudRing = false; // if true, ang_res_y and ang_bottom are not used

// VLP-16
//extern const int N_SCAN = 16;
//extern const int Horizon_SCAN = 1800;
//extern const float ang_res_x = 0.2;
//extern const float ang_res_y = 2.0;
//extern const float ang_bottom = 15.0+0.1;
//extern const int groundScanInd = 7;

// HDL-32E
// extern const int N_SCAN = 32;
// extern const int Horizon_SCAN = 1800;
// extern const float ang_res_x = 360.0/float(Horizon_SCAN);
// extern const float ang_res_y = 41.33/float(N_SCAN-1);
// extern const float ang_bottom = 30.67;
// extern const int groundScanInd = 20;

//C-Fans-32
// extern const int N_SCAN = 32;
// extern const int Horizon_SCAN =600;
// extern const float ang_res_x = 0.2;
// extern const float ang_res_y =0.6;
// extern const float ang_bottom = 10.2;
// extern const int groundScanInd = 10;

//R-Fans-32
// extern const int N_SCAN = 32;
// extern const int Horizon_SCAN =2000;
// extern const float ang_res_x = 0.18;
// extern const float ang_res_y =1;
// extern const float ang_bottom = 20;
// extern const int groundScanInd = 10;
//R-fans-32M
extern const int N_SCAN = 32;
extern const int Horizon_SCAN =2000;
extern const float ang_res_x = 0.18;
//extern const float ang_res_y =0.87;
extern const float ang_bottom = 16.9;
extern const int groundScanInd = 10;
//HDL-64
// extern const int N_SCAN = 64;
// extern const int Horizon_SCAN =4000;
// extern const float ang_res_x = 0.09;
// extern const float ang_res_y =0.4;
// extern const float ang_bottom = 24.8;
// extern const int groundScanInd = 20;



// VLS-128
// extern const int N_SCAN = 128;
// extern const int Horizon_SCAN = 1800;
// extern const float ang_res_x = 0.2;
// extern const float ang_res_y = 0.3;
// extern const float ang_bottom = 25.0;
// extern const int groundScanInd = 10;

// Ouster users may need to uncomment line 159 in imageProjection.cpp
// Usage of Ouster imu data is not fully supported yet (LeGO-LOAM needs 9-DOF IMU), please just publish point cloud data
// Ouster OS1-16
// extern const int N_SCAN = 16;
// extern const int Horizon_SCAN = 1024;
// extern const float ang_res_x = 360.0/float(Horizon_SCAN);
// extern const float ang_res_y = 33.2/float(N_SCAN-1);
// extern const float ang_bottom = 16.6+0.1;
// extern const int groundScanInd = 7;

// Ouster OS1-64
// extern const int N_SCAN = 64;
// extern const int Horizon_SCAN = 1024;
// extern const float ang_res_x = 360.0/float(Horizon_SCAN);
// extern const float ang_res_y = 33.2/float(N_SCAN-1);
// extern const float ang_bottom = 16.6+0.1;
// extern const int groundScanInd = 15;

extern const bool loopClosureEnableFlag = false;
extern const double mappingProcessInterval = 0.3;

extern const float scanPeriod = 0.1;
extern const int systemDelay = 0;
extern const int imuQueLength = 200;

extern const float sensorMinimumRange = 1.0;
extern const float sensorMountAngle = 0.0;
extern const float segmentTheta = 60.0/180.0*M_PI; // decrese this value may improve accuracy
extern const int segmentValidPointNum = 5;
extern const int segmentValidLineNum = 3;
extern const float segmentAlphaX = ang_res_x / 180.0 * M_PI;
extern const float segmentAlphaY = 1/ 180.0 * M_PI;


extern const int edgeFeatureNum = 2;
extern const int surfFeatureNum = 4;
extern const int sectionsTotal = 6;
extern const float edgeThreshold = 0.1;
extern const float surfThreshold = 0.1;
extern const float nearestFeatureSearchSqDist = 25;


// Mapping Params
extern const float surroundingKeyframeSearchRadius = 50.0; // key frame that is within n meters from current pose will be considerd for scan-to-map optimization (when loop closure disabled)
extern const int   surroundingKeyframeSearchNum = 50; // submap size (when loop closure enabled)
// history key frames (history submap for loop closure)
extern const float historyKeyframeSearchRadius = 7.0; // key frame that is within n meters from current pose will be considerd for loop closure
extern const int   historyKeyframeSearchNum = 25; // 2n+1 number of hostory key frames will be fused into a submap for loop closure
extern const float historyKeyframeFitnessScore = 0.3; // the smaller the better alignment

extern const float globalMapVisualizationSearchRadius = 500.0; // key frames with in n meters will be visualized


struct smoothness_t{ 
    float value;
    size_t ind;
};

struct by_value{ 
    bool operator()(smoothness_t const &left, smoothness_t const &right) { 
        return left.value < right.value;
    }
};

/*
    * A point cloud type that has "ring" channel
    */
struct PointXYZIR
{
    PCL_ADD_POINT4D
    PCL_ADD_INTENSITY;
    uint16_t ring;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIR,  
                                   (float, x, x) (float, y, y)
                                   (float, z, z) (float, intensity, intensity)
                                   (uint16_t, ring, ring)
)

/*
    * A point cloud type that has 6D pose info ([x,y,z,roll,pitch,yaw] intensity is time stamp)
    */
struct PointXYZIRPYT
{
    PCL_ADD_POINT4D
    PCL_ADD_INTENSITY;
    float roll;
    float pitch;
    float yaw;
    double time;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIRPYT,
                                   (float, x, x) (float, y, y)
                                   (float, z, z) (float, intensity, intensity)
                                   (float, roll, roll) (float, pitch, pitch) (float, yaw, yaw)
                                   (double, time, time)
)

typedef PointXYZIRPYT  PointTypePose;

#endif

lvk

学一下ROS就知道了

Freedy_S

lvk 发表于 2022-12-30 23:34
学一下ROS就知道了

那这段大致是啥意思大佬！

lvk

大概就是定义了一个用来订阅机器人nav_msgs::Odometry消息，然后经OdometryHandle函数转换为geometry_msgs::Pose2D消息并发布出去的类；在主函数里初始化了ros并定义一个那个类的对象，然后打印了一下信息，最后进入spin,此时机器人会不断订阅nav_msgs::Odometry消息，发布geometry_msgs::Pose2D消息。