from geometry_msgs.msg import PoseStamped转成c++
时间: 2024-09-26 17:02:52 浏览: 22
`from geometry_msgs.msg import PoseStamped` 这行Python代码是在ROS(Robot Operating System)中导入名为 `PoseStamped` 的消息类型,它通常用于表示三维空间中的位置和姿态信息。在C++中,这个概念对应于ROS的message类型,例如`geometry_msgs::PoseStamped`。
在C++中,你需要这样做:
```cpp
#include <ros/ros.h>
#include "geometry_msgs/PoseStamped.h"
```
这里首先包含了必要的ROS头文件,然后直接引用了`geometry_msgs`包下的`PoseStamped`结构体。在C++中,访问和操作这种消息通常会通过`ros::Publisher`、`ros::Subscriber`等ROS API。
如果你需要创建或解析这个消息实例,你可以这样做:
```cpp
geometry_msgs::PoseStamped pose;
pose.header.stamp = ros::Time::now(); // 设置时间戳
pose.pose.position.x = ...; // 填充位置坐标
pose.pose.orientation.w = ...; // 填充四元数表示的姿态
// 发布或传递这个消息
```
相关问题
from geometry_msgs.msg import Twist转成c++
在Python中,`from geometry_msgs.msg import Twist` 这行代码是导入ROS(Robot Operating System)的消息包中的 `Twist` 消息类型,这是一个描述移动机器人的线速度和角速度的数据结构。在C++中,对应的功能通常在`geometry_msgs`库中实现,但并不是直接像Python那样导入。
在C++中,要使用`Twist`消息,首先需要在ROS中安装`geometry_msgs`包,并在代码中包含相应的头文件。以下是基本的过程:
1. 安装`geometry_msgs`包:
如果使用ROS2,可以在CMakeLists.txt中添加依赖项:
```cmake
find_package(geometry_msgs REQUIRED)
```
2. 引入`Twist`头文件:
```cpp
#include <geometry_msgs/Twist.h>
```
3. 创建和操作`Twist`对象:
```cpp
geometry_msgs::msg::Twist twist; // 创建一个Twist对象
twist.linear.x = 0.5; // 设置线速度(x轴)
twist.linear.y = 0.0;
twist.linear.z = 0.0;
twist.angular.x = 0.0;
twist.angular.y = 0.0;
twist.angular.z = 0.3; // 设置角速度(z轴)
// 发布Twist消息给特定话题(如/cmd_vel)
your_ros_node_->publish(twist);
```
将下段代码转成python程序“#include <ros/ros.h> #include <tf/transform_listener.h> #include <geometry_msgs/Pose2D.h> #include <fstream> #include <iostream> #include <cmath> using namespace std; double x,y,z, qx,qy,qz, qw; double theta; geometry_msgs::Pose2D pos_now; int main(int argc, char** argv){ ros::init(argc, argv, "tf_Pose_Publisher"); ros::NodeHandle node; ros::Publisher _pose_pub=node.advertise<geometry_msgs::Pose2D>("pose_data", 10); tf::StampedTransform transform; tf::TransformListener listener; ros::Rate rate(10.0); while (ros::ok()){ ros::Time start = ros::Time::now(); cout << "StartTime:"<< start << endl; tf::StampedTransform transform; try{ //得到坐map和坐标base_link之间的关系 listener.waitForTransform("map","base_link", ros::Time(0), ros::Duration(3.0)); listener.lookupTransform("map", "base_link", ros::Time(0), transform); } catch (tf::TransformException &ex) { ROS_ERROR("%s",ex.what()); ros::Duration(1.0).sleep(); } x=transform.getOrigin().x(); y=transform.getOrigin().y(); z=transform.getOrigin().z(); tf::Quaternion q = transform.getRotation(); qx = q.x(); qy = q.y(); qz = q.z(); qw = q.w(); pos_now.x = transform.getOrigin().x(); pos_now.y =transform.getOrigin().y(); pos_now.theta = tf::getYaw(q); _pose_pub.publish(pos_now); printf("x: %f, y: %f, z: %f, qx: %f,qy: %f,qz: %f, qw: %f, theta: %f\n",x,y,z,qx,qy,qz,qw,pos_now.theta); rate.sleep(); ros::Time end = ros::Time::now(); cout << "EndTime:"<<end << endl; } return 0; };
以下是将C++代码转换为Python代码的结果:
```python
#!/usr/bin/env python
import rospy
import tf
from geometry_msgs.msg import Pose2D
x, y, z, qx, qy, qz, qw = 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
theta = 0.0
pos_now = Pose2D()
rospy.init_node('tf_Pose_Publisher')
_pose_pub = rospy.Publisher('pose_data', Pose2D, queue_size=10)
listener = tf.TransformListener()
rate = rospy.Rate(10.0)
while not rospy.is_shutdown():
start = rospy.Time.now()
print("StartTime: {}".format(start))
try:
# 得到坐map和坐标base_link之间的关系
listener.waitForTransform("map", "base_link", rospy.Time(0), rospy.Duration(3.0))
(trans, rot) = listener.lookupTransform("map", "base_link", rospy.Time(0))
x = trans[0]
y = trans[1]
z = trans[2]
qx = rot[0]
qy = rot[1]
qz = rot[2]
qw = rot[3]
pos_now.x = trans[0]
pos_now.y = trans[1]
pos_now.theta = tf.transformations.euler_from_quaternion(rot)[2]
_pose_pub.publish(pos_now)
print("x: {}, y: {}, z: {}, qx: {}, qy: {}, qz: {}, qw: {}, theta: {}".format(x, y, z, qx, qy, qz, qw, pos_now.theta))
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
rospy.sleep(1.0)
rate.sleep()
end = rospy.Time.now()
print("EndTime: {}".format(end))
```