[英]How do you properly send an array from ROS in C++?
I'm using Kinetic.我正在使用动力学。
I have a custom message path.msg
我有一个自定义消息path.msg
string path_name
segment[] segments
I'm trying to send a ROS goal with that message type.我正在尝试使用该消息类型发送 ROS 目标。
I initialize an array in my code我在我的代码中初始化了一个数组
cuarl_rover_planner::segment segments[path->getSegments().size()];
//do stuff that populates the array
cuarl_rover_planner::path action_path;
action_path.segments = segments; // Error here
I get this error我收到此错误
error: no match for ‘operator=’ (operand types are ‘cuarl_rover_planner::path_<std::allocator<void> >::_segments_type {aka std::vector<cuarl_rover_planner::segment_<std::allocator<void> >, std::allocator<cuarl_rover_planner::segment_<std::allocator<void> > > >}’ and ‘cuarl_rover_planner::segment [(<anonymous> + 1)] {aka cuarl_rover_planner::segment_<std::allocator<void> > [(<anonymous> + 1)]}’)
action_path.segments = segments;
I'm assuming that the action_path.segments
take a different data type, but I don't understand what that datatype is, from that error message.我假设action_path.segments
采用不同的数据类型,但从该错误消息中我不明白该数据类型是什么。
action_path.segments
is a std::vector<segment>
, but your segments
variable is just a single segment, not a vector of segments. action_path.segments
是一个std::vector<segment>
,但你的segments
变量只是一个段,而不是一个段向量。 If you want to add only one segment, you can use action_path.push_back(segment)
.如果只想添加一个段,可以使用action_path.push_back(segment)
。 Otherwise, you can declare segments
as否则,您可以将segments
声明为
std::vector<cuarl_rover_planner::segment> segments(path->getSegments().size());
If you wanted to use a raw pointer array for some reason (like you might be here), you have to explicitly set that up as std::vector
first, ie如果您出于某种原因想使用原始指针数组(就像您可能在这里),您必须首先将其明确设置为std::vector
,即
action_path.segments = std::vector<cuarl_rover_planner::segment>(segments, segments+path->getSegments().size());
See How to initialize std::vector from C-style array?请参阅如何从 C 样式数组初始化 std::vector? for more about setting a vector from a raw C-array.有关从原始 C 数组设置向量的更多信息。
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