我制作并安装了 aruco 库，它将 Findaruco.cmake 文件放在 /usr/local/lib/cmake 目录中。在我的 CMakeLists.txt 文件中
...
find_package(aruco REQUIRED)
它总是返回标准错误
By not providing "Findaruco.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "aruco", but
CMake did not find one.
Could not find a package configuration file provided by "aruco" with any of
the following names:
arucoConfig.cmake
aruco-config.cmake
Add the installation prefix of "aruco" to CMAKE_PREFIX_PATH or set
"aruco_DIR" to a directory containing one of the above files. If "aruco"
provides …总结：我有一个节点在 ~300hz 发布消息，但是在另一个节点中订阅主题的回调只在 ~25hz 时被调用。订阅者节点中的 spinOnce 在 ~700hz 被调用，所以我不知道为什么它会丢失消息。
发布者节点：
#include <ros/ros.h>
#include <ros/console.h>
#include <nav_msgs/Odometry.h>
...
int main(int argc, char** argv)
{
ros::init(argc, argv, "sim_node");
ros::NodeHandle nh;
...
// Publishers
tf::TransformBroadcaster tfbr;
ros::Publisher odomPub = nh.advertise<nav_msgs::Odometry>("pose",10);
...
ros::Rate r(300); // loop rate
while(ros::ok())
{
...
// Publish pose and velocity
...
odomPub.publish(msg);
ros::spinOnce();
r.sleep();
}
ros::waitForShutdown();
return 0;
}
订阅者节点：
#include <ros/ros.h>
#include <ros/console.h>
#include <nav_msgs/Odometry.h>
...
std::mutex mtx1, mtx2;
class DataHandler
{
private:
ros::NodeHandle nh;
ros::Publisher odomPub;
double …