首页详细解释一下ros::Rate loop_rate(m_frameRate); ros::AsyncSpinner spinner(m_threadNum); spinner.start(); while (ros::ok()) { loop_rate.sleep(); } 什么意思

详细解释一下ros::Rate loop_rate(m_frameRate); ros::AsyncSpinner spinner(m_threadNum); spinner.start(); while (ros::ok()) { loop_rate.sleep(); } 什么意思

时间: 2023-02-19 09:14:50 浏览: 371

ROS::TF_TePRA2013_Foote.pdf

tf: The transform library tf is a package that lets the user keep track of multiple coordinate frames over time. tf maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.

ros::Rate loop_rate(m_frameRate)表示每秒循环一次，ros::AsyncSpinner spinner(m_threadNum)表示创建一个容量为m_threadNum的多线程，spinner.start()表示启动多线程，while (ros::ok()) { loop_rate.sleep(); }表示每秒循环一次，如果ros::ok()返回true则循环，否则停止循环。

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