geometry_msgs的ros message 类型赋值

test_custom_particles.cpp

//

// Created by gary on 2019/8/27.

//

#include <ros/ros.h>

#include <std_msgs/String.h>

#include <geometry_msgs/PoseArray.h>

#include <geometry_msgs/Pose.h>

#include "amcl/amcl_particles.h"

#include <stdlib.h>

ros::NodeHandle *nh = ;

ros::ServiceClient  test_custom_particles_;

int main(int argc, char** argv)

{

    ros::init(argc, argv, "test_custom_particles");

    ros::NodeHandle nh_("~");

    nh = &nh_;

    while(!ros::service::waitForService("/amcl/set_particles", ros::Duration(3.0)))

    {

        ROS_ERROR("The service of /amcl/set_particles is not available.");

    }

    test_custom_particles_ = nh->serviceClient<amcl::amcl_particles>("/amcl/set_particles", true);

    if(!test_custom_particles_)

    {

        ROS_ERROR("Could not initialize goal_reached_client service from %s",test_custom_particles_.getService().c_str());

        //抛出错误，以及其他处理机制

        return ;

    }

    ROS_INFO("");

    amcl::amcl_particles test_custorm_particle_srv;

    test_custorm_particle_srv.request.pose_array_msg.header.stamp = ros::Time::now();//-1意思为告诉用户到达零点失败

    //test_custorm_particle_srv.request.pose_array_msg.poses = (geometry_msgs::Pose *)malloc(sizeof(geometry_msgs::Pose) * 1000);

    geometry_msgs::Pose          le;

    for(int i = ; i < ; i++)

    {

        le.position.x = ;

        le.position.y = ;

        le.position.z = ;

        le.orientation.x = ;

        le.orientation.y = ;

        le.orientation.z = ;

        le.orientation.w = ;

        test_custorm_particle_srv.request.pose_array_msg.poses.push_back(le) ;

    }

    ROS_INFO("");

    if(test_custom_particles_.call(test_custorm_particle_srv))

    {

        if(test_custorm_particle_srv.response.success)

        {

            ROS_INFO("success.");

        }

        else

        {

            ROS_ERROR("failture.");

        }

    }

    ros::spin();

    return ;

}

amcl_particles.srv

geometry_msgs/PoseArray pose_array_msg

---

bool success