argv_ptr.c

最新推荐文章于 2025-06-09 08:21:34 发布
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#include

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void main(int argc, char **argv)
  {
    while (*argv)
      printf ("%s/n", *argv++);
  }

 

C11智能指针shared_ptr、unique_ptr、weak_ptr
Wonder Wall
12-22 981
目的：实现堆内存的自动回收（垃圾回收机制） 智能指针可以在适当时机自动释放分配的内存。也就是说，使用智能指针可以很好地避免“忘记释放内存而导致内存泄漏”问题出现。 智能指针的作用是防止忘记调用delete释放内存和程序异常的进入catch块忘记释放内存。 ????‍补充： 内存泄漏（momory leak）: 是指程序在申请新的内存空间后，没有释放已经申请的内存空间，后果也许会造成内存溢出。 内存溢出（out of memory）: 指程序申请内存时，没有足够的内存提供给申请者。内存不够用。
独占指针：unique_ptr 与 函数调用 笔记
呵呵哒!的博客
01-25 1025
但手动释放的时候，还再多释放一次或者再访问会崩溃。（1）需要用std::move来转移内存拥有权。没有执行析构函数，怎么办呢？原始指针 非常不安全。
C++智能指针之weak_ptr
ERAtime的博客
06-09 882
C++智能指针之weak_ptr
shared_ptr 与 unique_ptr 的转换 笔记
呵呵哒!的博客
01-25 1679
计数指针：shared_ptr （共享指针）与函数-优快云博客。独占指针：unique_ptr 与 函数调用
Boost源码剖析--<boost/smart_ptr/scoped_ptr.hpp>
一个人的战争
05-07 5049
Boost源码剖析-- By 马冬亮(凝霜  Loki) 一个人的战争(http://blog.csdn.net/MDL13412) 头文件：         定位：         对于需要在一定范围内精确控制生命周期，并且不需要共享所有权或所有权转让语义的对象，提供内存的托管。由于不允许拷贝操作，可以在一定程度上防止误操作，较shared_ptr和std::auto_pt
shared_ptr的使用
weixin_44923692的博客
10-03 5624
shared_ptr又称计数指针或共享指针，与unique_ptr不同的是它是可以共享数据的。shared_ptr原理：shared_ptr创建了一个计数器与类对象所指的内存相关联，copy则计数器加1，销毁则计数器减1，api为use_count()。//自定义变量 std :: shared_ptr < Cat > c_p_1 = make_shared < Cat >();return 0;}
C++指针指针----share_ptr和weak_ptr
deroy
06-29 989
来源：微信公众号「编程学习基地」 文章目录智能指针简介shared_ptr智能指针对比普通指针基本用法其他用法智能指针引用计数为0，释放的对象是注意事项完整代码智能指针相关的函数总结weak_ptr基本用法常用函数用法环形引用问题shared_ptr和weak_ptr详细示例 智能指针简介 为了解决C++内存泄漏的问题，C++11引入了智能指针（Smart Pointer）。在现代 c + + 编程中，标准库包含 智能指针，这些指针用于帮助确保程序不会出现内存和资源泄漏，并具有异常安全。C++11提供..
unique_ptr的使用
weixin_44923692的博客
10-02 2973
unique_ptr采用独享语义，在任何给定时刻，只能有一个指针管理内存。当指针超出作用域时，内存将自动释放，而且该类型的指针不可copy，只可以move。以上就是unique_ptr的用法。C++现代实用教程:智能指针。
C++智能指针之weak_ptr（保姆级教学）
qq_25218501的博客
09-04 2319
weak_ptr：类模板，弱指针（弱引用计数）weak_ptr弱指针，不会控制影响对象的生命周期（不会改变对象的引用计数）,shared_ptr释放指向对象时，是不会考虑weak_ptr是否指向该对象weak_ptr不是独立指针，不能单独操作所指向的资源（不配拥有对象）,更不能指向一个新的空间；
win10+PCL+VS2015 PCL库配置，解决找不到pcl_common_debug.dll
热门推荐
liangjian990709的博客
12-09 1万+
提示：文章写完后，目录可以自动生成，如何生成可参考右边的帮助文档 文章目录前言一、下载PCL库二、安装PCL库三，vs2015配置pcl库选择vc++目录-库目录，添加以下路径选择调试-环境添加路径：选择链接器-输入-附加依赖项，添加以下内容：release模式下也添加附加依赖项：最后将SDL检查关闭测试一下测试结果四、总结 前言 win10下安装PCL库并配置到vs2015中 一、下载PCL库 网盘下载： 链接：https://pan.baidu.com/s/1KKBw5pAxCrg4Ym7Y3dV9
FFmpeg解析：视频滤镜样例 filtering_video.c
无标题
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filtering_video.c位于 doc/examples 目录下，是FFmpeg自带的一个滤镜使用样例。
afxres.h
CCodes的专栏
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  // This is a part of the Microsoft Foundation Classes C++ library.// Copyright (C) 1992-1995 Microsoft Corporation// All rights reserved.//// This source code is only intended as a supplement to the
addvalue.c
CCodes的专栏
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  #include #include int add_values(int value, ...) {    va_list argument_ptr;    int result = 0;    if (value != 0)      {        result += value;        va_start(argument_ptr, value);        wh
add_del.cpp
CCodes的专栏
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  #include   #include "DelMenu.h" #if defined (WIN32) #define IS_WIN32 TRUE#else #define IS_WIN32 FALSE#endif#define IS_NT      IS_WIN32 && (BOOL)(GetVersion() #define IS_WIN32S  IS_WIN32 && (BOOL
add_new.h
CCodes的专栏
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  #define IDM_EXIT           100#define IDM_TEST           200#define IDM_ABOUT          301LRESULT CALLBACK WndProc  (HWND, UINT, WPARAM, LPARAM);LRESULT CALLBACK About    (HWND, UINT, WPARAM, LPAR
anon_un.cpp
CCodes的专栏
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  #include #include void main(void)  {  // define anonymous union  union    {    long l;    double d;    char s[4];    };  // now, your program can reference elements directly  l = 100000;  cout
alertable_io.cpp
CCodes的专栏
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  #include "CmnHdr.H"#include #include #include #include #include #include #include "Resource.H"//////////////////////////////////////////////////////////////////////HANDLE CreateNewCompletionPort(D
autoinfo.c
CCodes的专栏
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  #include #include #include #include #include void main(void)  {    int handle;    struct stat buffer;    if ((handle = open("//AUTOEXEC.BAT", O_RDONLY)) == -1)     printf("Error opening //AUTOEX
add_del.h
CCodes的专栏
11-08 529
  #define IDM_EXIT           100#define IDM_ITEM1          200#define IDM_ITEM2          201#define IDM_ITEM3          202#define IDM_ABOUT          301LRESULT CALLBACK WndProc  (HWND, UINT, WPARAM,
#include "path_follower_ros.h" int main(int argc, char **argv) { ros::init(argc, argv, "path_follower"); ros::NodeHandle private_nh("~"); PathFollowerROS path_follower(private_nh); ros::spin(); ros::shutdown(); return 0; } 上述是path_follower_node.cpp的代码 #include "path_follower_ros.h" PathFollowerROS::PathFollowerROS(ros::NodeHandle &nh) : _nh(nh), _tf_buffer(), _tf_listener(_tf_buffer), _costmap_2d_ros("follower_costmap", _tf_buffer) { loadParameters(); initServices(); initPublishers(); initSubscribers(); _robot_model = std::shared_ptr<RobotModel>(RobotModelHelper::createRobotModel(_config.footprint)); _path_follower = std::make_shared<TebFollower>(&_follower_info, _robot_model.get(), _costmap_2d_ros.getCostmap()); ROS_INFO("[PathFollowerROS] Initialized"); } void PathFollowerROS::loadParameters() { ros::NodeHandle collision_nh(_nh, "collision"); collision_nh.param<std::vector<double>>("footprint", _config.footprint, {0.76, 0.52}); ROS_INFO("[PathFollowerROS] Footprint Size: %lu", _config.footprint.size()); ros::NodeHandle follower_nh(_nh, "path_follower"); follower_nh.param<int>("look_forward_poses_for_control", _follower_info.look_forward_poses_for_control, _follower_info.look_forward_poses_for_control); follower_nh.param<double>("force_reinit_new_goal_dist", _follower_info.force_reinit_new_goal_dist, _follower_info.force_reinit_new_goal_dist); follower_nh.param<double>("force_reinit_new_goal_angular", _follower_info.force_reinit_new_goal_angular, _follower_info.force_reinit_new_goal_angular); follower_nh.param<double>("stop_vel_travel", _follower_info.stop_vel_travel, _follower_info.stop_vel_travel); follower_nh.param<double>("stop_vel_rotation", _follower_info.stop_vel_rotation, _follower_info.stop_vel_rotation); follower_nh.param<double>("ignore_back_range", _follower_info.ignore_back_range, _follower_info.ignore_back_range); follower_nh.param<double>("max_follow_range", _follower_info.max_follow_range, _follower_info.max_follow_range); follower_nh.param<double>("max_follow_length", _follower_info.max_follow_length, _follower_info.max_follow_length); follower_nh.param<double>("viapoint_seperation", _follower_info.viapoint_seperation, _follower_info.viapoint_seperation); follower_nh.param<double>("obstacle_behind_ignore_range", _follower_info.obstacle_behind_ignore_range, _follower_info.obstacle_behind_ignore_range); follower_nh.param<double>("obstacle_search_factory", _follower_info.obstacle_search_factory, _follower_info.obstacle_search_factory); follower_nh.param<double>("obstacle_collision_dist", _follower_info.obstacle_collision_dist, _follower_info.obstacle_collision_dist); follower_nh.param<double>("margin_obstacle_collision", _follower_info.margin_obstacle_collision, _follower_info.margin_obstacle_collision); follower_nh.param<double>("obstacle_inflation_dist", _follower_info.obstacle_inflation_dist, _follower_info.obstacle_inflation_dist); follower_nh.param<double>("margin_obstacle_inflation", _follower_info.margin_obstacle_inflation, _follower_info.margin_obstacle_inflation); follower_nh.param<int>("obstacle_search_number", _follower_info.obstacle_search_number, _follower_info.obstacle_search_number); follower_nh.param<bool>("exact_arc_length", _follower_info.exact_arc_length, _follower_info.exact_arc_length); follower_nh.param<bool>("allow_init_backwords", _follower_info.allow_init_backwords, _follower_info.allow_init_backwords); follower_nh.param<bool>("overwrite_orientation", _follower_info.overwrite_orientation, _follower_info.overwrite_orientation); follower_nh.param<double>("dt_ref", _follower_info.dt_ref, _follower_info.dt_ref); follower_nh.param<double>("dt_std", _follower_info.dt_std, _follower_info.dt_std); follower_nh.param<int>("min_samples", _follower_info.min_samples, _follower_info.min_samples); follower_nh.param<int>("max_samples", _follower_info.max_samples, _follower_info.max_samples); follower_nh.param<double>("max_vel_forward", _follower_info.max_vel_forward, _follower_info.max_vel_forward); follower_nh.param<double>("max_vel_backward", _follower_info.max_vel_backward, _follower_info.max_vel_backward); follower_nh.param<double>("max_vel_left", _follower_info.max_vel_left, _follower_info.max_vel_left); follower_nh.param<double>("max_vel_right", _follower_info.max_vel_right, _follower_info.max_vel_right); follower_nh.param<double>("margin_max_vel_travel", _follower_info.margin_max_vel_travel, _follower_info.margin_max_vel_travel); follower_nh.param<double>("max_vel_rotation", _follower_info.max_vel_rotation, _follower_info.max_vel_rotation); follower_nh.param<double>("margin_max_vel_rotation", _follower_info.margin_max_vel_rotation, _follower_info.margin_max_vel_rotation); follower_nh.param<double>("max_acc_travel", _follower_info.max_acc_travel, _follower_info.max_acc_travel); follower_nh.param<double>("margin_max_acc_travel", _follower_info.margin_max_acc_travel, _follower_info.margin_max_acc_travel); follower_nh.param<double>("max_acc_rotation", _follower_info.max_acc_rotation, _follower_info.max_acc_rotation); follower_nh.param<double>("margin_max_acc_rotation", _follower_info.margin_max_acc_rotation, _follower_info.margin_max_acc_rotation); follower_nh.param<double>("min_turning_radius", _follower_info.min_turning_radius, _follower_info.min_turning_radius); follower_nh.param<double>("margin_kinematics_turning_radius", _follower_info.margin_kinematics_turning_radius, _follower_info.margin_kinematics_turning_radius); follower_nh.param<double>("xy_goal_tolerance", _follower_info.xy_goal_tolerance, _follower_info.xy_goal_tolerance); follower_nh.param<double>("yaw_goal_tolerance", _follower_info.yaw_goal_tolerance, _follower_info.yaw_goal_tolerance); follower_nh.param<bool>("free_goal_vel", _follower_info.free_goal_vel, _follower_info.free_goal_vel); follower_nh.param<bool>("complete_global_plan", _follower_info.complete_global_plan, _follower_info.complete_global_plan); follower_nh.param<int>("no_outer_iterations", _follower_info.no_outer_iterations, _follower_info.no_outer_iterations); follower_nh.param<int>("no_inner_iterations", _follower_info.no_inner_iterations, _follower_info.no_inner_iterations); follower_nh.param<double>("weight_max_vel_travel", _follower_info.weight_max_vel_travel, _follower_info.weight_max_vel_travel); follower_nh.param<double>("weight_max_vel_side", _follower_info.weight_max_vel_side, _follower_info.weight_max_vel_side); follower_nh.param<double>("weight_max_vel_rotation", _follower_info.weight_max_vel_rotation, _follower_info.weight_max_vel_rotation); follower_nh.param<double>("weight_max_acc_travel", _follower_info.weight_max_acc_travel, _follower_info.weight_max_acc_travel); follower_nh.param<double>("weight_max_acc_side", _follower_info.weight_max_acc_side, _follower_info.weight_max_acc_side); follower_nh.param<double>("weight_max_acc_rotation", _follower_info.weight_max_acc_rotation, _follower_info.weight_max_acc_rotation); follower_nh.param<double>("weight_kinematics_forward", _follower_info.weight_kinematics_forward, _follower_info.weight_kinematics_forward); follower_nh.param<double>("weight_kinematics_smooth", _follower_info.weight_kinematics_smooth, _follower_info.weight_kinematics_smooth); follower_nh.param<double>("weight_kinematics_turning_radius", _follower_info.weight_kinematics_turning_radius, _follower_info.weight_kinematics_turning_radius); follower_nh.param<double>("weight_obstacle_collision", _follower_info.weight_obstacle_collision, _follower_info.weight_obstacle_collision); follower_nh.param<double>("weight_obstacle_inflation", _follower_info.weight_obstacle_inflation, _follower_info.weight_obstacle_inflation); follower_nh.param<double>("weight_optimal_time", _follower_info.weight_optimal_time, _follower_info.weight_optimal_time); follower_nh.param<double>("weight_shortest_path", _follower_info.weight_shortest_path, _follower_info.weight_shortest_path); follower_nh.param<double>("weight_viapoints", _follower_info.weight_viapoints, _follower_info.weight_viapoints); ROS_DEBUG("[PathFollowerROS] look_forward_poses_for_control: %d", _follower_info.look_forward_poses_for_control); ROS_DEBUG("[PathFollowerROS] force_reinit_new_goal_dist: %f", _follower_info.force_reinit_new_goal_dist); ROS_DEBUG("[PathFollowerROS] force_reinit_new_goal_angular: %f", _follower_info.force_reinit_new_goal_angular); ROS_DEBUG("[PathFollowerROS] stop_vel_travel: %f", _follower_info.stop_vel_travel); ROS_DEBUG("[PathFollowerROS] stop_vel_rotation: %f", _follower_info.stop_vel_rotation); ROS_DEBUG("[PathFollowerROS] ignore_back_range: %f", _follower_info.ignore_back_range); ROS_DEBUG("[PathFollowerROS] max_follow_range: %f", _follower_info.max_follow_range); ROS_DEBUG("[PathFollowerROS] max_follow_length: %f", _follower_info.max_follow_length); ROS_DEBUG("[PathFollowerROS] viapoint_seperation: %f", _follower_info.viapoint_seperation); ROS_DEBUG("[PathFollowerROS] obstacle_behind_ignore_range: %f", _follower_info.obstacle_behind_ignore_range); ROS_DEBUG("[PathFollowerROS] obstacle_search_factory: %f", _follower_info.obstacle_search_factory); ROS_DEBUG("[PathFollowerROS] obstacle_collision_dist: %f", _follower_info.obstacle_collision_dist); ROS_DEBUG("[PathFollowerROS] margin_obstacle_collision: %f", _follower_info.margin_obstacle_collision); ROS_DEBUG("[PathFollowerROS] obstacle_inflation_dist: %f", _follower_info.obstacle_inflation_dist); ROS_DEBUG("[PathFollowerROS] margin_obstacle_inflation: %f", _follower_info.margin_obstacle_inflation); ROS_DEBUG("[PathFollowerROS] obstacle_search_number: %d", _follower_info.obstacle_search_number); ROS_DEBUG("[PathFollowerROS] exact_arc_length: %d", _follower_info.exact_arc_length); ROS_DEBUG("[PathFollowerROS] allow_init_backwords: %d", _follower_info.allow_init_backwords); ROS_DEBUG("[PathFollowerROS] overwrite_orientation: %d", _follower_info.overwrite_orientation); ROS_DEBUG("[PathFollowerROS] dt_ref: %f", _follower_info.dt_ref); ROS_DEBUG("[PathFollowerROS] dt_std: %f", _follower_info.dt_std); ROS_DEBUG("[PathFollowerROS] min_samples: %d", _follower_info.min_samples); ROS_DEBUG("[PathFollowerROS] max_samples: %d", _follower_info.max_samples); ROS_DEBUG("[PathFollowerROS] max_vel_forward: %f", _follower_info.max_vel_forward); ROS_DEBUG("[PathFollowerROS] max_vel_backward: %f", _follower_info.max_vel_backward); ROS_DEBUG("[PathFollowerROS] max_vel_left: %f", _follower_info.max_vel_left); ROS_DEBUG("[PathFollowerROS] max_vel_right: %f", _follower_info.max_vel_right); ROS_DEBUG("[PathFollowerROS] margin_max_vel_travel: %f", _follower_info.margin_max_vel_travel); ROS_DEBUG("[PathFollowerROS] max_acc_travel: %f", _follower_info.max_acc_travel); ROS_DEBUG("[PathFollowerROS] margin_max_acc_travel: %f", _follower_info.margin_max_acc_travel); ROS_DEBUG("[PathFollowerROS] max_acc_rotation: %f", _follower_info.max_acc_rotation); ROS_DEBUG("[PathFollowerROS] margin_max_acc_rotation: %f", _follower_info.margin_max_acc_rotation); ROS_DEBUG("[PathFollowerROS] min_turning_radius: %f", _follower_info.min_turning_radius); ROS_DEBUG("[PathFollowerROS] margin_kinematics_turning_radius: %f", _follower_info.margin_kinematics_turning_radius); ROS_DEBUG("[PathFollowerROS] xy_goal_tolerance: %f", _follower_info.xy_goal_tolerance); ROS_DEBUG("[PathFollowerROS] yaw_goal_tolerance: %f", _follower_info.yaw_goal_tolerance); ROS_DEBUG("[PathFollowerROS] free_goal_vel: %d", _follower_info.free_goal_vel); ROS_DEBUG("[PathFollowerROS] complete_global_plan: %d", _follower_info.complete_global_plan); ROS_DEBUG("[PathFollowerROS] no_inner_iterations: %d", _follower_info.no_inner_iterations); ROS_DEBUG("[PathFollowerROS] no_outer_iterations: %d", _follower_info.no_outer_iterations); ROS_DEBUG("[PathFollowerROS] weight_max_vel_travel: %f", _follower_info.weight_max_vel_travel); ROS_DEBUG("[PathFollowerROS] weight_max_vel_side: %f", _follower_info.weight_max_vel_side); ROS_DEBUG("[PathFollowerROS] weight_max_vel_rotation: %f", _follower_info.weight_max_vel_rotation); ROS_DEBUG("[PathFollowerROS] weight_max_acc_travel: %f", _follower_info.weight_max_acc_travel); ROS_DEBUG("[PathFollowerROS] weight_max_acc_side: %f", _follower_info.weight_max_acc_side); ROS_DEBUG("[PathFollowerROS] weight_max_acc_rotation: %f", _follower_info.weight_max_acc_rotation); ROS_DEBUG("[PathFollowerROS] weight_kinematics_forward: %f", _follower_info.weight_kinematics_forward); ROS_DEBUG("[PathFollowerROS] weight_kinematics_smooth: %f", _follower_info.weight_kinematics_smooth); ROS_DEBUG("[PathFollowerROS] weight_kinematics_turning_radius: %f", _follower_info.weight_kinematics_turning_radius); ROS_DEBUG("[PathFollowerROS] weight_obstacle_collision: %f", _follower_info.weight_obstacle_collision); ROS_DEBUG("[PathFollowerROS] weight_obstacle_inflation: %f", _follower_info.weight_obstacle_inflation); ROS_DEBUG("[PathFollowerROS] weight_optimal_time: %f", _follower_info.weight_optimal_time); ROS_DEBUG("[PathFollowerROS] weight_shortest_path: %f", _follower_info.weight_shortest_path); ROS_DEBUG("[PathFollowerROS] weight_viapoints: %f", _follower_info.weight_viapoints); } void PathFollowerROS::initServices() { } void PathFollowerROS::initPublishers() { _followed_path_pub = _nh.advertise<nav_msgs::Path>("path", 1); _candidate_obstacle_pub = _nh.advertise<sensor_msgs::PointCloud>("candidate_obstacles", 1); _affected_obstacle_pub = _nh.advertise<sensor_msgs::PointCloud>("affected_obstacles", 1); } void PathFollowerROS::initSubscribers() { _initial_pose_sub = _nh.subscribe("/initialpose", 1, &PathFollowerROS::initialPoseCallback, this); _global_path_sub = _nh.subscribe("/path_planner/path", 1, &PathFollowerROS::globalPathCallback, this); } void PathFollowerROS::initialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg) { _initial_pose.x = msg->pose.pose.position.x; _initial_pose.y = msg->pose.pose.position.y; _initial_pose.theta = tf::getYaw(msg->pose.pose.orientation); geometry_msgs::TransformStamped tf_msg; tf_msg.header.frame_id = "map"; tf_msg.header.stamp = ros::Time::now(); tf_msg.child_frame_id = "move_base"; tf_msg.transform.translation.x = msg->pose.pose.position.x; tf_msg.transform.translation.y = msg->pose.pose.position.y; tf_msg.transform.translation.z = msg->pose.pose.position.z; tf_msg.transform.rotation = msg->pose.pose.orientation; _tf_broadcaster.sendTransform(tf_msg); } void PathFollowerROS::globalPathCallback(const nav_msgs::Path::ConstPtr &msg) { Point2EVec path; for (auto &p : msg->poses) { path.emplace_back(p.pose.position.x, p.pose.position.y, tf::getYaw(p.pose.orientation)); } _path_follower->setGlobalPath(path); ROS_INFO("[PathFollowerROS] Received path with %lu poses", path.size()); Velocity robot_vel; robot_vel.setZero(); Velocity robot_cmd; std::chrono::steady_clock::time_point tic = std::chrono::steady_clock::now(); FollowResult result = _path_follower->makePlane(_initial_pose, robot_vel, robot_cmd); std::chrono::steady_clock::time_point toc = std::chrono::steady_clock::now(); int64_t ms_take = std::chrono::duration_cast<std::chrono::milliseconds>(toc - tic).count(); ROS_INFO("[PathFollowerROS] Follower time: %lu ms", ms_take); ROS_INFO("[PathFollowerROS] cmd vel: %f | %f | %f", robot_cmd.x, robot_cmd.y, robot_cmd.theta); if (result == FollowResult::SUCCESS) { ROS_INFO("[PathFollowerROS] Follower success"); publishFollowedPath(); publishCandidateObstacles(); publishAffectedObstacles(); } } void PathFollowerROS::publishFollowedPath() { if (_followed_path_pub.getNumSubscribers() < 1) return; Point2EVec followed_path = _path_follower->mutableOptimizer().mutableTrajectory(); if (followed_path.size() > 0) { nav_msgs::Path path; path.header.frame_id = "map"; path.header.stamp = ros::Time::now(); for (auto &p : followed_path) { geometry_msgs::PoseStamped pose; pose.pose.position.x = p.x; pose.pose.position.y = p.y; pose.pose.orientation = tf::createQuaternionMsgFromYaw(p.theta); path.poses.push_back(pose); } _followed_path_pub.publish(path); } } void PathFollowerROS::publishCandidateObstacles() { if (_candidate_obstacle_pub.getNumSubscribers() < 1) return; Point2DVec obstacles = _path_follower->mutableOptimizer().mutableCanidateObstacles(); if (obstacles.size() > 0) { sensor_msgs::PointCloud cloud; cloud.header.frame_id = "map"; cloud.header.stamp = ros::Time::now(); for (auto &p : obstacles) { geometry_msgs::Point32 point; point.x = p.x; point.y = p.y; point.z = 0.0; cloud.points.push_back(point); } _candidate_obstacle_pub.publish(cloud); } } void PathFollowerROS::publishAffectedObstacles() { if (_affected_obstacle_pub.getNumSubscribers() < 1) return; std::vector<Point2D *> obstacles = _path_follower->mutableOptimizer().mutableAffectedObstacles(); if (obstacles.empty()) return; std::set<Point2D *> unique_obstacles; for (auto &p : obstacles) { unique_obstacles.insert(p); } sensor_msgs::PointCloud cloud; cloud.header.frame_id = "map"; cloud.header.stamp = ros::Time::now(); for (auto &p : unique_obstacles) { geometry_msgs::Point32 point; point.x = p->x; point.y = p->y; point.z = 0.0; cloud.points.push_back(point); } _affected_obstacle_pub.publish(cloud); } 上述是path_follower_ros.cpp的代码 #pragma once #include <tf/tf.h> #include <ros/ros.h> #include <tf2_ros/buffer.h> #include <tf2_ros/transform_listener.h> #include <tf2_ros/transform_broadcaster.h> #include <costmap_2d/costmap_2d_ros.h> #include "teb_path_follower/teb_follower.h" #include <geometry_msgs/PoseWithCovarianceStamped.h> #include <nav_msgs/Path.h> #include <sensor_msgs/PointCloud.h> struct NodeConfig { std::vector<double> footprint; }; class PathFollowerROS { public: PathFollowerROS(ros::NodeHandle &nh); void loadParameters(); void initServices(); void initPublishers(); void initSubscribers(); void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg); void globalPathCallback(const nav_msgs::Path::ConstPtr &msg); void publishFollowedPath(); void publishCandidateObstacles(); void publishAffectedObstacles(); private: NodeConfig _config; ros::NodeHandle _nh; tf2_ros::Buffer _tf_buffer; tf2_ros::TransformListener _tf_listener; tf2_ros::TransformBroadcaster _tf_broadcaster; costmap_2d::Costmap2DROS _costmap_2d_ros; ros::Subscriber _global_path_sub; ros::Subscriber _initial_pose_sub; ros::Publisher _candidate_obstacle_pub; ros::Publisher _affected_obstacle_pub; ros::Publisher _followed_path_pub; Point2E _initial_pose; FollowerInfo _follower_info; std::shared_ptr<TebFollower> _path_follower; std::shared_ptr<RobotModel> _robot_model; }; 上述是path_follower_ros.h的代码 上述是不是写好的局部或者全局路径规划的算法写成的node，可以用于ROS1机器人导航
最新发布
11-29
ros::init(argc, argv, "path_follower_node"); ros::NodeHandle nh; ros::Publisher cmd_vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 10); // 其他代码... return 0; } ``` 如果代码中没有...
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