#include <iostream> #include <cmath> #include <ros/ros.h> #include <geometry_msgs/PoseStamped.h> #include <nav_msgs/Odometry.h> #include "plan_env/lec4.h" #include "ego_planner/TutorialGoal.h" using namespace std; ros::Subscriber odom_sub; ros::Publisher param_goal_pub; ros::ServiceClient client; int waypoint_num_; double waypoints_[50][3]; double spin_rate; // void OdomCallback(const nav_msgs::Odometry& msg) { ROS_WARN_ONCE("odom CB"); static int way_point_count = 0; if (way_point_count >= waypoint_num_) { ROS_WARN_ONCE("all points pub"); return; } float dist = std::sqrt(std::pow(waypoints_[way_point_count][0] - msg.pose.pose.position.x, 2) + std::pow(waypoints_[way_point_count][1] - msg.pose.pose.position.y, 2) + std::pow(waypoints_[way_point_count][2] - msg.pose.pose.position.z, 2)); //TODO /***your code for publishing drone goal***/ } int main(int argc, char** argv) { ros::init(argc, argv, "exercesie2_param_node"); ros::NodeHandle n("~"); odom_sub = n.subscribe("/odom", 10, OdomCallback); param_goal_pub = n.advertise<ego_planner::TutorialGoal>("/waypoint_generator/tutorial_goal", 10); //TODO /*your code for param reading*/ for(i) n.param("point_x", waypoints_ []); n.param("point_y", waypoints_10.0); n.param("point_z", waypoints_ 10.0); n.param("/spin_rate", spin_rate, 10.0); ros::Duration(0.5).sleep(); ros::Rate loop_rate(spin_rate); while (ros::ok()) { ros::spinOnce(); loop_rate.sleep(); } }补充完整这段代码

以下是补充完整的代码：

#include <iostream>
#include <cmath>

#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/Odometry.h>

#include "plan_env/lec4.h"
#include "ego_planner/TutorialGoal.h"

using namespace std;

ros::Subscriber odom_sub;
ros::Publisher param_goal_pub;
ros::ServiceClient client;
int waypoint_num_;
double waypoints_[50][3];

double spin_rate;

// 
void OdomCallback(const nav_msgs::Odometry& msg) {
    ROS_WARN_ONCE("odom CB");
    static int way_point_count = 0;

    if (way_point_count >= waypoint_num_) {
        ROS_WARN_ONCE("all points pub");
        return;
    }
    float dist = std::sqrt(std::pow(waypoints_[way_point_count][0] - msg.pose.pose.position.x, 2) + 
                            std::pow(waypoints_[way_point_count][1] - msg.pose.pose.position.y, 2) + 
                            std::pow(waypoints_[way_point_count][2] - msg.pose.pose.position.z, 2));

    //TODO 
    /***your code for publishing drone goal***/
    if (dist < 0.1) {
        ego_planner::TutorialGoal goal;
        goal.point.x = waypoints_[way_point_count][0];
        goal.point.y = waypoints_[way_point_count][1];
        goal.point.z = waypoints_[way_point_count][2];
        param_goal_pub.publish(goal);
        way_point_count++;
    }
}

int main(int argc, char** argv) {
    ros::init(argc, argv, "exercesie2_param_node");
    ros::NodeHandle n("~");

    odom_sub = n.subscribe("/odom", 10, OdomCallback);
    param_goal_pub = n.advertise<ego_planner::TutorialGoal>("/waypoint_generator/tutorial_goal", 10);

    //TODO 
    /*your code for param reading*/
    n.param("/waypoint_num", waypoint_num_, 0);
    for (int i = 0; i < waypoint_num_; i++) {
        string param_x = "/waypoint_" + to_string(i) + "/x";
        string param_y = "/waypoint_" + to_string(i) + "/y";
        string param_z = "/waypoint_" + to_string(i) + "/z";
        n.param(param_x, waypoints_[i][0], 0.0);
        n.param(param_y, waypoints_[i][1], 0.0);
        n.param(param_z, waypoints_[i][2], 0.0);
    }

    n.param("/spin_rate", spin_rate, 10.0);
    ros::Duration(0.5).sleep();

    ros::Rate loop_rate(spin_rate);

    while (ros::ok()) {
        ros::spinOnce();
        loop_rate.sleep();
    }
}

这段代码是一个ROS节点，用于读取参数并发布无人机的目标位置。它通过订阅`/odom`话题获取当前无人机的位置信息，然后根据预设的目标点，计算当前位置与目标点之间的距离。当距离小于阈值时，发布下一个目标点作为无人机的目标位置。

在`main`函数中，我们首先初始化ROS节点，并设置参数服务器前缀为`~`。然后创建一个订阅器`odom_sub`，用于接收无人机的位置信息。创建一个发布器`param_goal_pub`，用于发布无人机的目标位置。接着从参数服务器中读取参数，包括目标点的数量`waypoint_num`和每个目标点的坐标。最后，设置循环的频率，并在循环中调用`ros::spinOnce()`来处理ROS的回调函数。

其中，`OdomCallback`是回调函数，用于处理接收到的无人机位置信息。在该函数中，我们首先判断是否已经发布了所有的目标点，如果是，则直接返回。否则，计算当前位置与目标点之间的距离`dist`。如果距离小于设定的阈值（这里设为0.1），则发布下一个目标点作为无人机的目标位置，并将目标点计数加1。

请根据实际需求修改其中的TODO部分，完成发布无人机目标位置的代码。