ROS常用功能代码

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已于 2025-03-05 11:27:03 修改

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文章标签： ROS 学习代码

于 2023-12-22 16:52:08 首次发布

本文链接：https://blog.csdn.net/TengYun_zhang/article/details/135156954

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1. 根据ros四元数获取yaw

	tf::Pose pose;
	tf::poseMsgToTF(cur_pos.pose, pose);
	tf::Quaternion quat = pose.getRotation();
	const double psi = tf::getYaw(quat);

static inline void tf::poseMsgToTF(const geometry_msgs::Pose &msg, tf::Pose &bt)；

2. ros install可执行程序程序在CmakeLists.txt中修改

cmake_minimum_required(VERSION 3.0)
project(control_can)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  tf
  ackermann_msgs
  control_msgs
 # parking_waypoint_follow
)
catkin_package()
include_directories(${catkin_INCLUDE_DIRS})
include_directories(include)
link_directories(lib)

add_executable(control_can src/can_com_node.cpp
                           src/can_com.cpp)

target_link_libraries(control_can ${catkin_LIBRARIES} controlcan pthread)


# Install targets
install(TARGETS test_hybrid_astar 
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
# Install launch files
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  FILES_MATCHING PATTERN "*.launch"
)
# Install config files
install(DIRECTORY config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
  FILES_MATCHING PATTERN "*.yaml"
)
# Install include files
install(DIRECTORY include/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)
# Install lib files
install(DIRECTORY lib/
  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  FILES_MATCHING PATTERN "*.so"
)