#include <ros/ros.h> #include <ros/package.h> #include <quadrotor_msgs/PositionCommand.h> #include <nav_msgs/Odometry.h> #include <sensor_msgs/Joy.h> #include<mavros_msgs/AttitudeTarget.h> #include <tf/tf.h> #include <math.h>
时间: 2023-08-14 13:07:48 浏览: 74
这是一段C++代码,其中包含了一些ROS和其他消息类型的头文件。`<ros/ros.h>`是ROS系统的核心头文件,`<ros/package.h>`用于访问ROS软件包的路径,`<quadrotor_msgs/PositionCommand.h>`和`<nav_msgs/Odometry.h>`是ROS消息类型,`<sensor_msgs/Joy.h>`用于读取手柄输入,`<mavros_msgs/AttitudeTarget.h>`用于设置飞行器的期望姿态,`<tf/tf.h>`用于处理3D变换,`<math.h>`是C++标准数学库的头文件。这些头文件的作用是为代码提供必要的函数和数据类型。
相关问题
将C++#include <ros/ros.h> #include <ros/package.h> #include <quadrotor_msgs/PositionCommand.h> #include <nav_msgs/Odometry.h> #include <sensor_msgs/Joy.h> #include<mavros_msgs/AttitudeTarget.h> #include <tf/tf.h> #include <math.h>转成Python
以下是将C++代码转换为Python代码的结果:
```python
import rospy
import rospkg
from quadrotor_msgs.msg import PositionCommand
from nav_msgs.msg import Odometry
from sensor_msgs.msg import Joy
from mavros_msgs.msg import AttitudeTarget
from tf.transformations import euler_from_quaternion
import math
rospy.init_node('node_name')
def position_cmd_callback(msg):
# handle position command message
pass
def odometry_callback(msg):
# handle odometry message
pass
def joy_callback(msg):
# handle joystick message
pass
def attitude_target_callback(msg):
# handle attitude target message
pass
rospy.Subscriber('/position_cmd', PositionCommand, position_cmd_callback)
rospy.Subscriber('/odometry', Odometry, odometry_callback)
rospy.Subscriber('/joy', Joy, joy_callback)
rospy.Subscriber('/mavros/setpoint_raw/attitude', AttitudeTarget, attitude_target_callback)
rospy.spin()
```
请注意,由于Python语言的特点,代码的结构和语法与C++可能略有不同。此外,需要针对Python的ROS库进行适当的调整。
在CMakelists里面添加依赖<quadrotor_msgs/PositionCommand.h>和<nav_msgs/Odometry.h>是ROS消息类型
在CMakeLists.txt文件中,要使用`catkin_package`宏和`find_package`命令来添加ROS消息类型的依赖项。
首先,在`catkin_package`宏中添加需要依赖的消息类型:
```
catkin_package(
...
CATKIN_DEPENDS quadrotor_msgs nav_msgs
...
)
```
然后,在`CMakeLists.txt`中使用`find_package`命令查找需要的ROS软件包,并将其包含路径添加到`include_directories`中:
```
find_package(catkin REQUIRED COMPONENTS
quadrotor_msgs
nav_msgs
)
include_directories(
${catkin_INCLUDE_DIRS}
)
```
这样就可以在代码中使用`<quadrotor_msgs/PositionCommand.h>`和`<nav_msgs/Odometry.h>`这两个ROS消息类型了。