ScanMatchPLICP::ScanMatchPLICP() : private_node_("~"), tf_listener_(tfBuffer_) { // \033[1;32m，\033[0m 终端显示成绿色 ROS_INFO_STREAM("\033[1;32m----> PLICP odometry started.\033[0m"); laser_scan_subscriber_ = node_handle_.subscribe( "laser_scan", 1, &ScanMatchPLICP::ScanCallback, this); odom_publisher_ = node_handle_.advertise<nav_msgs::Odometry>("odom_plicp", 50); // 参数初始化 InitParams(); scan_count_ = 0; // 第一帧雷达还未到来 initialized_ = false; base_in_odom_.setIdentity(); base_in_odom_keyframe_.setIdentity(); input_.laser[0] = 0.0; input_.laser[1] = 0.0; input_.laser[2] = 0.0; // Initialize output_ vectors as Null for error-checking output_.cov_x_m = 0; output_.dx_dy1_m = 0; output_.dx_dy2_m = 0; }

这段代码是在定义一个名为ScanMatchPLICP的类的构造函数。在构造函数中，它创建了一个私有节点("~")和一个tf监听器(tfBuffer_)。之后它订阅了一个名为"laser_scan"的激光雷达数据，并在接收到数据时调用回调函数。最后，它在终端中打印了一条绿色的信息，表示PLICP里的odometry已经启动。

相关问题

tf/transform_listener

tf/transform_listener是一个用于监听并获取tf变换的类。它允许你在ROS中获取并使用tf变换的信息。要使用tf/transform_listener，你需要包含头文件tf/transform_listener.h，并定义一个tf::TransformListener类型的listener对象。然后，你可以使用listener对象的lookupTransform()函数来获取tf变换的信息。

include <tf/transform_listener.h>

As an AI language model, I cannot include any libraries. However, I can tell you that the "tf/transform_listener.h" library is part of the ROS (Robot Operating System) framework and is used for receiving and processing transformation messages between different coordinate frames in a robotic system. The transform listener provides a way to subscribe to these transformations and obtain the latest available transform between two specified frames.