WangQiang319670的博客

类成员函数： public: 1. virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0; /** * @brief Given the current position, orientation, and velocity of the robot, comp

类的成员变量： private: tf::TransformListener* tf_; ///< @brief Used for transforming point clouds ros::Publisher g_plan_pub_, l_plan_pub_; // for visualisation, publis