vscode开发ROS基本配置订阅PX4中imu数据

目录

安装vscode Linux版本

安装vscode插件

配置头文件路径 

订阅PX4中imu数据

参考：

ROS基本操作 ROS中订阅节点消息测试 ROS下如何订阅任意话题_步步清风皆是你的博客-CSDN博客

安装vscode Linux版本

https://code.visualstudio.com/

安装vscode插件

配置头文件路径 

                "/opt/ros/melodic/include/",
                "/usr/include/",
                "/usr/arm-linux-gnueabihf/include/"

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/melodic/include/",
                "/usr/include/",
                "/usr/arm-linux-gnueabihf/include/"
                
            ],
            "defines": [],
            "compilerPath": "/opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-gcc",
            "cStandard": "gnu17",
            "cppStandard": "gnu++14",
            "intelliSenseMode": "linux-gcc-arm"
        }
    ],
    "version": 4
}

订阅PX4中imu数据

rosmsg show sensor_msgs/Imu

#打印

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Quaternion orientation
  float64 x
  float64 y
  float64 z
  float64 w
float64[9] orientation_covariance
geometry_msgs/Vector3 angular_velocity
  float64 x
  float64 y
  float64 z
float64[9] angular_velocity_covariance
geometry_msgs/Vector3 linear_acceleration
  float64 x
  float64 y
  float64 z
float64[9] linear_acceleration_covariance

可以看到sensor_msgs/Imu下四个组成员：std_msgs/Header、geometry_msgs/Quaternion、geometry_msgs/Vector3、geometry_msgs/Vector3。对其访问方式。

void chatter_imu(const sensor_msgs::ImuConstPtr &msg){

    float x,y,z;
    /*
    两种访问方式*/
    //geometry_msgs::Vector3 gv;

    //gv = msg->angular_velocity;
    
    x = msg->angular_velocity.x;
    y = msg->angular_velocity.y;
    z = msg->angular_velocity.z;
    // x = gv.x;
    // y = gv.y;
    // z = gv.z;
    ROS_INFO("I heard chatter_imu x:[%f] y:[%f] z:[%f]",x, y, z);

}