ROS_Array_msg - 8BitsCoding/RobotMentor GitHub Wiki

// ros 배열처리
# imgData.msg
int32 upperLeft
int32 lowerRight
string color
string cameraID

# imgDataArray.msg
imgData[] images

// ros 배열처리 : 송신
#include <vector>

ros::Publisher pub = n.advertise<my_pkg::imgDataArray>("test", 1000);

my_pkg::imgData data;
my_pkg::imgDataArry msg;

data.upperleft = 0;
data.upperRight = 0;
data.color = "red";
data.cameraID = "one";

msg.images.push_back(data);

pub.publish(msg);
// ros 배열처리 : 수신

void subCB(const my_pkg::imgDataArray::ConstPtr& msg)
{
    const my_pkg::imgData& data = msg->images[1];
    // data.upperleft;
}

마치 vector처럼 사용하면 됨.

for(std::vector<my_pkg::imgDataArray>::iterator it = msg.images.begin(); it != msg.images.end(); ++it)
{
    // 삭제
    msg.images.erase(it);

    // 멤버접근
    it->upperLeft;
}

...

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