Sucan126
d3487a2613
添加新的Monitor类，用于订阅并打印SportModeState和Odometry消息数据 移除custom_robot.cpp中冗余的日志信息 更新CMakeLists.txt以包含新的监控模块
28 lines
707 B
C++
28 lines
707 B
C++
#ifndef MONITOR_HPP
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#define MONITOR_HPP
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#include <unitree/idl/go2/SportModeState_.hpp>
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#include <unitree/idl/ros2/Odometry_.hpp>
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#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <memory>
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namespace custom {
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class Monitor {
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public:
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Monitor();
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~Monitor();
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void initialize();
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private:
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void sportModeStateCallback(const void* message);
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void odometryCallback(const void* message);
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std::unique_ptr<unitree::robot::ChannelSubscriber<unitree_go::msg::dds_::SportModeState_>> sport_mode_state_subscriber_;
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std::unique_ptr<unitree::robot::ChannelSubscriber<nav_msgs::msg::dds_::Odometry_>> odometry_subscriber_;
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};
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} // namespace custom
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#endif // MONITOR_HPP
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