update file cmakelists

geometry_msgs/CMakeLists.txt

@@ -18,3 +18,6 @@ target_include_directories(geometry_msgs INTERFACE
 
 # Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
 target_link_libraries(geometry_msgs INTERFACE std_msgs)
+
+add_executable(test_geometry test/main.cpp)
+target_link_libraries(test_geometry PRIVATE geometry_msgs)

geometry_msgs/test/main.cpp

@@ -0,0 +1,39 @@
+#include "geometry_msgs/PolygonStamped.h"
+#include <iostream>
+
+int main()
+{
+  geometry_msgs::PolygonStamped poly_stamped;
+
+  poly_stamped.header.seq = 1;
+  poly_stamped.header.stamp.sec = 1625079042;
+  poly_stamped.header.stamp.nsec = 123456789;
+  poly_stamped.header.frame_id = "map";
+  poly_stamped.polygon.points.resize(3);
+  poly_stamped.polygon.points[0].x = 1.1;
+  poly_stamped.polygon.points[0].y = 2.5;
+  poly_stamped.polygon.points[0].z = 0.8;
+  poly_stamped.polygon.points[1].x = 2.1;
+  poly_stamped.polygon.points[1].y = 2.3;
+  poly_stamped.polygon.points[1].z = 0.3;
+  poly_stamped.polygon.points[2].x = 3.2;
+  poly_stamped.polygon.points[2].y = 5.9;
+  poly_stamped.polygon.points[2].z = 4.6;
+
+  std::cout << "PolygonStamped:" << std::endl;
+  std::cout << " Header:" << std::endl;
+  std::cout << "  seq: " << poly_stamped.header.seq << std::endl;
+  std::cout << "  stamp: " << poly_stamped.header.stamp.sec << "s " << poly_stamped.header.stamp.nsec << "ns" << std::endl;
+  std::cout << "  frame_id: " << poly_stamped.header.frame_id << std::endl;
+  std::cout << " Polygon points:" << std::endl;
+  for (size_t i = 0; i < poly_stamped.polygon.points.size(); ++i)
+  {
+    std::cout << "  Point " << i << ": ("
+              << poly_stamped.polygon.points[i].x << ", "
+              << poly_stamped.polygon.points[i].y << ", "
+              << poly_stamped.polygon.points[i].z << ")" << std::endl;
+  }
+
+
+  return 0;
+}