DuongTD/common_msgs
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them file geometry_msgs

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duongtd
2025-11-06 17:01:17 +07:00
parent 827b8623bc
commit 05616f8fca
36 changed files with 562 additions and 67 deletions
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8
std_msgs/CMakeLists.txt
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@@ -3,5 +3,11 @@ project(std_msgs)
set(CMAKE_CXX_STANDARD 17)
if (NOT TARGET robot_time)
add_subdirectory(${CMAKE_SOURCE_DIR}/../robot_time ${CMAKE_BINARY_DIR}/robot_time_build)
endif()
add_library(std_msgs INTERFACE)
target_include_directories(std_msgs INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_include_directories(std_msgs INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_SOURCE_DIR}/../robot_time/include)
target_link_libraries(std_msgs INTERFACE robot_time)

7
std_msgs/include/std_msgs/Header.h
View File

@@ -2,15 +2,15 @@
#define STD_MSGS_HEADER_H
#include <string>
#include <chrono>
#include <cstdint>
#include <robot/time.h>
namespace std_msgs {
struct Header
{
uint32_t seq = 0; // số thứ tự message
double stamp = 0.0; // thời gian theo giây (Unix time)
robot::Time stamp = robot::Time(0); // thời gian theo giây (Unix time)
std::string frame_id;
Header() = default;
@@ -18,8 +18,7 @@ struct Header
// Hàm tạo nhanh header với timestamp hiện tại
static Header now(const std::string& frame = "")
{
using namespace std::chrono;
double time_now = duration_cast<duration<double>>(system_clock::now().time_since_epoch()).count();
robot::Time time_now = robot::Time::now();
Header h;
h.seq = 0;
h.stamp = time_now;