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YangLei1993/plan2control_msgs
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发布轨迹消息定义如下: 1 话题名称 /trajectory 2 消息定义结构如下: |- Header header |- Traj_Node[] points (轨迹点) |- bool forward (表示前进或后退,1为前进,0为后退) |- int32 id (路点的id号) |- geometry_msgs/Point position(具体的路点坐标) |- float32 x (轨迹点的x坐标,米) |- float32 y (轨迹点的y坐标,米) |- float32 z (轨迹点的海拔,米) |- geometry_msgs/Quaternion orientation(航向,暂未用) |- float64 curvature (曲率) |- geometry_msgs/Twist velocity(现阶段只用linear.x) 文件定义格式: Trajectory.msg Header header Traj_Node[] points Traj_Node.msg bool forward int32 id geometry_msgs/Point position geometry_msgs/Quaternion orientation float64 curvature geometry_msgs/Twist velocity
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the interface between plan and control
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