ROS2--随手笔记

marcker - - mash type

marker = visualization_msgs.msg.Marker()
marker.type = visualization_msgs.msg.Marker.MESH_RESOURCE
marker.mesh_resource = 'package://HexagonalPrism.STL'
//解释
文件格式为 'package://' + name_of_package + '/' + filename_in_package
例如，如果您在hexbot软件包中包含HexagonalPrism.STL，则语法应为'package://hexbot/HexagonalPrism.STL'。如果它在该程序包的一个名为meshes的文件夹中，'package://hexbot/meshes/HexagonalPrism.STL'

注：可以根据启动RViz加载Macker后报的错来修改加载文件的路径

[ERROR] [rviz2]: Error retrieving file [file:///home/gw04/all_ws/ros2_tt/install/data/share/data/generic_suv_1.stl]: Couldn't open file /home/gw04/all_ws/ros2_tt/install/data/share/data/generic_suv_1.stl

自定义的msg

float64类型等同于double类型
float64[ ]  ppp  #这里的类型是vector在使用ppp时可以使用ppp.push_back(***)

CMakeLists.txt中添加pcl

cmake_minimum_required(VERSION 3.5)
project(point_display)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(my_msgs REQUIRED)
#find_package(pcl_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(sensor_msgs REQUIRED)

 find_package(PCL 1.8 REQUIRED)
 include_directories(${
   
   PCL_INCLUDE_DIRS})
 link_directories(${
   
   PCL_LIBRARY_DIRS})
 add_definitions(${
   
   PCL_DEFINITIONS})
find_package(Boost REQUIRED)
 include_directories(${
   
   Boost_INCLUDE_DIRS})
 link_directories(${
   
   Boost_LIBRARY_DIRS})
#find_package(pcl_ros REQUIRED)
#find_package(pcl_conversions REQUIRED)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
##add
include_directories(include
  ${
   
   libpcap_LIBRARIES}
)
##
 add_executabl