Linux嵌入式开发笔记（十）ROS2中SharedPtr指针与结构体的相互赋值

定义三种变量类型：

①soa_messages::msg::BasicInfo::SharedPtr g_last_BasicInfo_1;

②soa_messages::msg::BasicInfo g_last_BasicInfo_2;

③auto g_last_BasicInfo_3= soa_messages::msg::BasicInfo();

实质上g_last_BasicInfo_2与g_last_BasicInfo_3是一致的，g_last_BasicInfo_1是指针类的。

★场景一：把变量1赋值给变量3：

g_last_BasicInfo_3= *g_last_BasicInfo_1.get();

★场景二：把变量3赋值给变量1：【需要用std::shared_ptr包装一下变量3】

g_last_BasicInfo_1= std::shared_ptr<soa_messages::msg::BasicInfo>(&g_last_BasicInfo_3);

★场景三：变量2与变量3可以直接赋值：

g_last_BasicInfo_3 = g_last_BasicInfo_2；

g_last_BasicInfo_2 = g_last_BasicInfo_3；