笔记2017-6-22

来源：互联网发布：羽生结弦知乎编辑：程序博客网时间：2024/06/05 09:32

1.std::ostringstream topic ; topic << "image_raw"; pub[i] = n.advertise<sensor_msgs::Image>(topic.str(),100);

std::string tiopic(std::string("image_raw")); topic = "camera" + std::to_string(i) +"/" + topic ;

ros::Rate loop_rate(15);

whlie(ros::ok()){

ros::spinOnce();

loop_rate.sleep();

}

ros::NodeHandle private_nh("~"); //干嘛的

std::string devip;

private_nh.param("device_ip",devip,std::string(" "));

Autoware-master

computing data sensing socket system util

sensing->drviers-> camera : baumer hexacam pointgrey vectacam 摄像头

sensing->drviers-> can : kvaser can 总线

sensing->drviers-> gnss: 定位系统

sensing->drviers-> imu: 微惯性航姿

sensing->drivers-> lidar: hokuyo velodyne 激光

sensing->filters 好像处理点云红绿灯的

sensing->fusion:calibration_camera_liar points2image scan2image 融合信息

sensing->polygon: points2polygon

computing->perception(觉察)->detection(检查发觉)：cv_tracker(opencv 追踪) cv_tracker_msgs(追踪话题) integrated_viewer(结合viewer) lane_detector(车道检测) lidar_tracker(雷达追踪) road_wizard(路线向导) viewers()

computing->perception(觉察)->localization(定位): autoware_connector (自动驾驶连接体) gnss_localizer(gps定位) icp_localizer(应该是基站定位) ndt_localizer (无损检测定位) orb_localizer( opencv_orb 定位)

localization->gnss_localizer : 使用gps 的经度、纬度、高度转化为地图的坐标发布出去 geo_pos_conv::llh_to_xyz(lat,lon,ele);

AW = 6378137.0; //Semimajor Axis 椭圆半长轴 FW = 1.0/298.257222101; 几何扁率

发布 geometry_msgs::PoseStamped pose;

computing->planning

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