hpp" std::shared_ptr node = nullptr; void TopicCallback(const std_msgs::msg::Float32::SharedPtr...clock, rclcpp::Duration period, CallbackT &&callback, rclcpp::CallbackGroup::SharedPtr group=nullptr...::SharedPtr group=nullptr) Create a timer with a given clock....::SharedPtr node_ptr) Create a default single-threaded executor and spin the specified node....bool ok (rclcpp::Context::SharedPtr context=nullptr) Check rclcpp's status. More...
= nullptr) { increase_shared_count(); } } ~SharedPtr() noexcept { _destroy...(*this); } // 拷贝构造, shared_ptr拷贝后会将计数器+1 SharedPtr(const SharedPtr& copy) noexcept : data(copy.data...& operator=(const SharedPtr& copy) noexcept { SharedPtr tmp(copy); swap(tmp); return...} // 移动赋值函数 SharedPtr& operator=(SharedPtr&& moving) noexcept { if (this !...Args> inline SharedPtr MakeShared(Args&&... args) { return SharedPtr(new T(std::forward
rclcpp::Node::SharedPtr node = ... // Run the executor....rclcpp::Node::SharedPtr node1 = ... rclcpp::Node::SharedPtr node2 = ... rclcpp::Node::SharedPtr node3...data += 1; publisher_->publish(message_); } private: rclcpp::Publisher::SharedPtr...publisher_; rclcpp::TimerBase::SharedPtr timer_; std_msgs::msg::Int32 message_; }; class SubscriberNode...publisher_; rclcpp::TimerBase::SharedPtr timer_; std_msgs::msg::Int32 message_; }; class SubscriberNode
*******************************/ void Turtlebot3Drive::odom_callback(const nav_msgs::msg::Odometry::SharedPtr...yaw); robot_pose_ = yaw; } void Turtlebot3Drive::scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr...cmd_vel_pub_; // ROS topic subscribers rclcpp::Subscription::SharedPtr...scan_sub_; rclcpp::Subscription::SharedPtr odom_sub_; // Variables double...msg); void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg); }; #endif // TURTLEBOT3_GAZEBO
subpose.cpp #include "rclcpp/rclcpp.hpp" #include "turtlesim/msg/pose.hpp" rclcpp::Node::SharedPtr g_node...= nullptr; void topic_callback(const turtlesim::msg::Pose::SharedPtr msg) { RCLCPP_INFO(g_node->get_logger...timer_; rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; int main...timer_; rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; int main...#include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" rclcpp::Node::SharedPtr g_node = nullptr
string.hpp" std::shared_ptr node = nullptr; void TopicCallback(const std_msgs::msg::String::SharedPtr...hpp" std::shared_ptr node = nullptr; void TopicCallback(const std_msgs::msg::Float32::SharedPtr...hpp" std::shared_ptr node = nullptr; void TopicCallback(const std_msgs::msg::Float32::SharedPtr...", rclcpp::SensorDataQoS(), callback); } private: rclcpp::Subscription::SharedPtr
的值写入统计量句柄 shared* /*Allocate, initialise, and install memory to be shared by the child process model*/ sharedptr...= op_prg_mem_alloc(sizeof(shared)); sharedptr->partxsrcid = -1; sharedptr->chitxsrcid = -1; op_pro_modmem_install...(sharedptr); Jetbrains全家桶1年46，售后保障稳定 根进程创建子进程后，分配父子进程共享的内存空间。
RCLCPP_PUBLIC rclcpp::CallbackGroup::SharedPtr create_callback_group( rclcpp::CallbackGroupType...timer_; rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; class...*/ void subscriber2_cb(const std_msgs::msg::String::SharedPtr msg) { auto message_received_at...::Subscription::SharedPtr subscription1_; rclcpp::Subscription<std_msgs::msg...msg); rclcpp::Node::SharedPtr node_; rclcpp::CallbackGroup::SharedPtr callback_group_; rclcpp
Publishing: '%s'", message.data.c_str()); publisher_->publish(message); } rclcpp::TimerBase::SharedPtr...timer_; rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; int main...MinimalSubscriber::topic_callback, this, _1)); } private: void topic_callback(const std_msgs::msg::String::SharedPtr...get_logger(), "I heard: '%s'", msg->data.c_str()); } rclcpp::Subscription::SharedPtr
的简单实现 */ template class SharedPtr { friend class WeakPtr; public: /*...() { release(); } /* * 拷贝构造函数，用另一个SharedPtr对象构造 */ SharedPtr(const...SharedPtr &s) { m_ptr = s.m_ptr; s.m_cnt->m_refCount++; m_cnt = s.m_cnt;...对象构造 */ SharedPtr &operator=(const SharedPtr &s) { if (this !...*/ SharedPtr &lock() { return SharedPtr(*this); } /* * 检查SharedPtr
req, turtlesim::srv::Spawn::Response::SharedPtr res) { std::string name = spawnTurtle(req->name, req...req, turtlesim::srv::Kill::Response::SharedPtr) { M_Turtle::iterator it = turtles_.find(req->name)..., std_srvs::srv::Empty::Response::SharedPtr) { RCLCPP_INFO(nh_->get_logger(), "Clearing turtlesim."..., std_srvs::srv::Empty::Response::SharedPtr) { RCLCPP_INFO(nh_->get_logger(), "Resetting turtlesim....req, turtlesim::srv::SetPen::Response::SharedPtr) { pen_on_ = !
geometry_msgs/msg/twist.hpp> #include #include turtlesim::msg::Pose::SharedPtr...bool g_first_goal_set = false; #define PI 3.141592 void poseCallback(const turtlesim::msg::Pose::SharedPtr...g_goal.x, g_goal.y, g_goal.theta); } void commandTurtle(rclcpp::Publisher::SharedPtr...commandTurtle(twist_pub, 0, 0); } } void stopTurn(rclcpp::Publisher::SharedPtr...commandTurtle(twist_pub, 1.0f, 0); } } void turn(rclcpp::Publisher::SharedPtr
options.topic_stats_options.publish_topic = "/topic_statistics" auto callback = [this](std_msgs::msg::String::SharedPtr..."topic", 10, callback, options); } private: void topic_callback(const std_msgs::msg::String::SharedPtr...get_logger(), "I heard: '%s'", msg->data.c_str()); } rclcpp::Subscription::SharedPtr...关于上问最后提及的疑问（::SharedPtr 和 & ）： github.com/ros2/examples/pull/281 github.com/ros2/examples/pull/337
MinimalActionServer::handle_accepted, this, _1)); } private: rclcpp_action::Server::SharedPtr...client_ptr_->async_send_goal(goal_msg, send_goal_options); } private: rclcpp_action::Client::SharedPtr...client_ptr_; rclcpp::TimerBase::SharedPtr timer_; bool goal_done_; void goal_response_callback...(std::shared_future future) { auto goal_handle = future.get();...accepted by server, waiting for result"); } } void feedback_callback( GoalHandleFibonacci::SharedPtr
> future); void cancelGoal(); rclcpp::Node::SharedPtr nh_; double linear_, angular_, l_scale..._, a_scale_; rclcpp::Publisher::SharedPtr twist_pub_; rclcpp_action::Client...::SharedPtr rotate_absolute_client_; rclcpp_action::ClientGoalHandle...::SharedPtr goal_handle_; }; TeleopTurtle::TeleopTurtle(): linear...= [this](std::shared_future::SharedPtr
data += 1; publisher_->publish(message_); } private: rclcpp::Publisher::SharedPtr...publisher_; rclcpp::TimerBase::SharedPtr timer_; std_msgs::msg::Int32 message_; }; int main(int...timer_; rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; int...std::bind(&SubscriberNode::callback, this, _1)); } void callback(const std_msgs::msg::Int32::SharedPtr...get_logger(), "I heard: '%s'", msg.data.c_str()); } rclcpp::Subscription::SharedPtr
service"), "Flag: [%d]", response->success); } } void odom_callback(const nav_msgs::msg::Odometry::SharedPtr...> node = rclcpp::Node::make_shared("get_goal_server"); rclcpp::Service::SharedPtr...create_service("get_goal", &get); rclcpp::Publisher::SharedPtr...cmd_vel", 10); geometry_msgs::msg::Twist mobot_vel; rclcpp::Subscription::SharedPtr...> node = rclcpp::Node::make_shared("send_goal_client"); rclcpp::Client::SharedPtr
&MinimalActionServer::handle_accepted, this, _1)); } private: rclcpp_action::Server::SharedPtr...client_ptr_->async_send_goal(goal_msg, send_goal_options); } private: rclcpp_action::Client::SharedPtr...client_ptr_; rclcpp::TimerBase::SharedPtr timer_; bool goal_done_; void goal_response_callback...(std::shared_future future) { auto goal_handle = future.get();...accepted by server, waiting for result"); } } void feedback_callback( GoalHandleFibonacci::SharedPtr
TurtleSimNode::timerCallback, this)); } private: void poseCallback(const turtlesim::msg::Pose::SharedPtr...msg.angular.z = 2.; publisher_->publish(msg); } rclcpp::Publisher::SharedPtr...publisher_; rclcpp::Subscription::SharedPtr subscriber_; rclcpp::TimerBase...::SharedPtr timer_; turtlesim::msg::Pose current_pose_; }; int main(int argc, char **argv) { rclcpp
), "Publishing: '%s'", message.c_str()); publisher_->publish(message); } rclcpp::TimerBase::SharedPtr...timer_; rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; int main(int...RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.c_str()); } rclcpp::Subscription::SharedPtr
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