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调试命令
rostopic info /mavros/home_position/home
查看这个话题的消息类型rosmsg show mavros_msgs/HomePosition
查看话题中消息的具体数据类型
头文件
//相应的包含
#include "mavros_msgs/HomePosition.h" //topic message
话题的回调函数
//订阅home位置信息
mavros_msgs::HomePosition home_position;
void get_home_Callback(const mavros_msgs::HomePosition::ConstPtr& msg){
home_position.geo.latitude = msg->geo.latitude;
home_position.geo.longitude = msg->geo.longitude;
home_position.geo.altitude = msg->geo.altitude;
}
发布话题/订阅话题
ros::Subscriber target_sub = nh.subscribe<mavros_msgs::HomePosition>("mavros/home_position/home",5,get_home_Callback);