#include "wheeltec_robot.h" #include "Quaternion_Solution.h" sensor_msgs::Imu Mpu6050;//Instantiate an IMU object //实例化IMU对象 /************************************** Date: January 28, 2021 Function: The main function, ROS initialization, creates the Rob

ot object and starts the main loop. **************************************/ int main(int argc, char **argv) { // ROS initialization ros::init(argc, argv, "wheeltec_robot"); // Instantiate a node handle object ros::NodeHandle nh; // Instantiate a robot object WheeltecRobot robot(&nh); // Start the main loop while (ros::ok()) { robot.mainLoop(); ros::spinOnce(); } return 0; }

这段代码是什么意思？