C++ (Cpp) Registry::subscribeToMessage示例

void initializeRotor( Registry & registry, const string & poseMessage )
{
  registry.registerType( ROTOR_DEFINITION_STRING( carmen_point_t ) );

  if ( poseMessage == "carmen_base_odometry" )
  {
    registry.registerMessageType(
      "carmen_base_odometry",
      ROTOR_DEFINITION_STRING( carmen_base_odometry_message )
    );
    registry.subscribeToMessage( "carmen_base_odometry", true );
  } else if ( poseMessage == "locfilter_filteredpos_message" ) {
    registry.registerMessageType(
      "locfilter_filteredpos_message",
      ROTOR_DEFINITION_STRING( locfilter_filteredpos_message )
    );
    registry.subscribeToMessage( "locfilter_filteredpos_message", true );
  }

  registry.registerMessageType(
    "axt_message",
    ROTOR_DEFINITION_STRING( axt_message )
  );
  registry.subscribeToMessage( "axt_message" );

  registry.registerType( ROTOR_DEFINITION_STRING( carmen_laser_laser_config_t ) );
  registry.registerMessageType(
    "carmen_robot_frontlaser",
    ROTOR_DEFINITION_STRING( carmen_robot_laser_message )
  );
}

示例#2

显示文件

文件： path_planner.cpp 项目： kralf/rotor-smartter

void
registerMessages( Registry & registry )
{
  registry.registerType( ROTOR_DEFINITION_STRING( carmen_point_t ) );

  registry.registerMessageType(
    "planner_plan_message",
    ROTOR_DEFINITION_STRING( planner_plan_message )
  );
  registry.subscribeToMessage( "planner_plan_message", true );

  registry.registerMessageType(
    "path_message",
    ROTOR_DEFINITION_STRING( path_message )
  );

  registry.registerMessageType(
    "path_stop_message",
    ROTOR_DEFINITION_STRING( path_stop_message )
  );
}