geometry_msgs/PoseStamped 類型的變量的構造

 

#navpoint.msg geometry_msgs/PoseStamped target_pose uint8 floor uint8 type target_pose 的類型爲geometry_msgs/PoseStamped # A Pose with reference coordinate frame and timestamp Header header Pose pose Record PoseStamped := { _header : Header.Header; _pose : Pose.Pose}. 簡單構造 demo1 #構造header target_pose.header.seq = 0; target_pose.header.stamp =ros::Time::now();//若是有問題就使用Time(0)獲取時間戳，確保類型一致
target_pose.header.frame_id = "map"; #構造pose target_pose.pose.position.x = x1; target_pose.pose.position.y = y1; target_pose.pose.position.z = 0.0; target_pose.pose.orientation.x = 0.0; target_pose.pose.orientation.y = 0.0; target_pose.pose.orientation.w = 1.0; demo2 geometry_msgs::PoseStamped Start; Start.header.seq = 0; Start.header.stamp = ros::Time::now();//若是有問題就使用Time(0)獲取時間戳，確保類型一致
Start.header.frame_id = "map"; Start.pose.position.x = x1; Start.pose.position.y = y1; Start.pose.position.z = 0.0; Start.pose.orientation.x = 0.0; Start.pose.orientation.y = 0.0; Start.pose.orientation.w = 1.0;

 

參考：
http://docs.ros.org/api/geometry_msgs/html/msg/PoseStamped.html
http://www.cs.cornell.edu/~aa755/ROSCoq/coqdocnew/Ros.Geometry_msgs.PoseStamped.html
http://docs.ros.org/api/std_msgs/html/msg/Header.html