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question:Manager::Manager(const rclcpp::NodeOptions& options) : Node("lidar_manager", options) { RCLCPP_INFO(this->get_logger(), "Manager http constructor"); // get parameters from http server auto host_desc = rcl_interfaces::msg::ParameterDescriptor{}; host_desc.description = "host ip"; this->declare_parameter("host", "localhost", host_desc); auto const host = this->get_parameter("host").as_string(); auto port_desc = rcl_interfaces::msg::ParameterDescriptor{}; port_desc.description = "host port"; this->declare_parameter("port", "3000", port_desc); auto const port = this->get_parameter("port").as_string(); auto target_desc = rcl_interfaces::msg::ParameterDescriptor{}; target_desc.description = "target url"; this->declare_parameter("target", "/sensor-config/sensor/lidar", target_desc); auto const target = this->get_parameter("target").as_string(); namespace beast = boost::beast; // from <boost/beast.hpp> namespace http = beast::http; // from <boost/beast/http.hpp> namespace net = boost::asio; // from <boost/asio.hpp> using tcp = net::ip::tcp; // from <boost/asio/ip/tcp.hpp> // The io_context is required for all I/O net::io_context ioc; // These objects perform our I/O tcp::resolver resolver(ioc); beast::tcp_stream stream(ioc); // Look up the domain name auto const results = resolver.resolve(host, port); // Make the connection on the IP address we get from a lookup stream.connect(results); // Set up an HTTP GET request message http::request<http::string_body> req{ http::verb::get, target, 11 }; req.set(http::field::host, host); req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING); // Send the HTTP request to the remote host http::write(stream, req); // This buffer is used for reading and must be persisted beast::flat_buffer buffer; // Declare a container to hold the response http::response<http::string_body> res; // Receive the HTTP response http::read(stream, buffer, res); // Write the message to standard out RCLCPP_INFO(this->get_logger(), "Received lidar config from http: %s", res.body().c_str()); // Gracefully close the socket beast::error_code ec; stream.socket().shutdown(tcp::socket::shutdown_both, ec); // not_connected happens sometimes // so don't bother reporting it. // if (ec && ec != beast::errc::not_connected) { RCLCPP_ERROR(this->get_logger(), "Error: %s", ec.message().c_str()); std::terminate(); } // 解析 http 结果到 雷达配置列表 std::vector<std::tuple<robosense::lidar::RSDriverParam, RosSenderParam>> lidar_config_list; try { nlohmann::json cfg_list = nlohmann::json::parse(res.body().c_str()); for (const auto& cfg : cfg_list) { robosense::lidar::RSDriverParam driver_cfg; driver_cfg.input_type = robosense::lidar::InputType::ONLINE_LIDAR; driver_cfg.input_param.msop_port = cfg["msop_port"]; driver_cfg.input_param.difop_port = cfg["difop_port"]; driver_cfg.frame_id = cfg["sensor_id"]; std::string lidar_type_str = cfg["device_type"]; driver_cfg.lidar_type = robosense::lidar::strToLidarType(lidar_type_str); RosSenderParam ros_param{ .topic_name = cfg["topic"], .frame_id = driver_cfg.frame_id, }; lidar_config_list.emplace_back(driver_cfg, ros_param); } } catch (const std::exception& e) { RCLCPP_ERROR_STREAM(this->get_logger(), fmt::format("接收到的http配置解析出错 {}", e.what())); std::terminate(); } RCLCPP_INFO_STREAM(this->get_logger(), fmt::format("接收到的http配置解析成功 识别到{}个雷达配置", lidar_config_list.size())); for (const auto& [param, ros_param] : lidar_config_list) { std::string lidar_type_str = robosense::lidar::lidarTypeToStr(param.lidar_type); RCLCPP_INFO_STREAM(this->get_logger(), fmt::format("{} 雷达 id: {} topic: {}", lidar_type_str, ros_param.frame_id, ros_param.topic_name)); auto receiver = std::make_shared<LidarReceiver>(param, *this); auto sender = std::make_shared<RosSender>(ros_param, *this); sender->Connect(receiver.get()); receivers_.push_back(receiver); senders_.push_back(sender); } start_receive(); }
answer:To compile and run this code, follow these steps: 1. Create a new ROS2 package, providing its name and other meta-information: ``` cd <colcon_ws>/src ros2 pkg create --build-type ament_cmake lidar_manager --dependencies rclcpp ``` Replace "<colcon_ws>" with the path to your colcon workspace. 2. Copy and replace the entire LidarManager node class code into `lidar_manager/src`. Name the file `lidar_manager.cpp`. 3. Update the following headers at the beginning of the `lidar_manager.cpp` file: ``` #include "lidar_manager/lidar_manager.hpp" #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" // Include the dependencies for the received lidar configurations #include "nlohmann/json.hpp" #include "robosense/lidar_driver.hpp" #include "robosense/lidar_utils.hpp" #include "robosense/rslidar_config.h" ``` 4. Update your `CMakeLists.txt`: ``` cmake_minimum_required(VERSION 3.5) project(lidar_manager) # Default to C++14 if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # Find packages find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) include_directories( include {rclcpp_INCLUDE_DIRS} {sensor_msgs_INCLUDE_DIRS} ) add_executable({PROJECT_NAME} src/lidar_manager.cpp) ament_target_dependencies( {PROJECT_NAME} rclcpp sensor_msgs ) install(TARGETS {PROJECT_NAME} DESTINATION lib/{PROJECT_NAME}) ament_package() ``` 5. In `<colcon_ws>/src/lidar_manager/package.xml` add the `sensor_msgs` dependency: ```xml <depend>sensor_msgs</depend> ``` 6. Compile and build the package: ``` cd <colcon_ws> source /opt/ros/foxy/setup.bash colcon build ``` 7. Finally, source your environment and execute the provided node using: ``` source install/setup.bash ros2 run lidar_manager lidar_manager ``` Ensure that the appropriate independent ROS nodes for `ros_sender` and `lidar_receiver` are running during execution.
question:Please explain the following code in plain English : public class Main { public static void main(String[] args) { int num = 29; boolean flag = false; for (int i = 2; i <= num / 2; ++i) { // condition for nonprime number if (num % i == 0) { flag = true; break; } } if (!flag) System.out.println(num + " is a prime number."); else System.out.println(num + " is not a prime number."); } }
answer:This code is checking whether the number 29 is a prime number or not. It does this by starting a loop that starts at 2 and goes up to halfway of the number being checked (in this case, 29 divided by 2 is 14.5, but since it's an integer, it will only go up to 14). For each number in the loop, it checks if it divides the original number evenly (using the modulus operator). If it does, then this means that the original number is not prime, and the code sets a flag variable to true and breaks out of the loop. Finally, the code checks the flag variable. If it is false, then the original number is prime and it prints out a message saying so. If it is true, then the original number is not prime and it prints out a message saying so.
question:RustDesk如何配置多个中继服务器？
answer:RustDesk is a remote desktop software that allows users to remotely access computers and servers. It does not support setting up multiple relay servers. However, you can configure multiple users to connect to the same relay server by providing them with the same server address and access code. To configure multiple users to connect to the same relay server, follow these steps: 1. Install the RustDesk software on each user's computer. 2. Start RustDesk and click on the 'New connection' button. 3. Enter the relay server address in the 'Address' field. 4. Enter the access code provided by the server owner in the 'Access code' field. 5. Click on the 'Connect' button to connect to the server. By following these steps, multiple users can connect to the same relay server and remotely access the same computer or server.
question:请发挥你的想象，结合你的知识，撰写一篇新闻稿，描述外地一行人到金明池街道调研街道党建工作，参考内容：2023年4月13日下午，南阳市人大常委会副秘书长、机关党委书记贾斌一行到金明池街道调研观摩人大工作，开封市人大常委会人事工委副主任刘红帅，市人大常委会机关党委副书记、预算工委副主任沈博，示范区人大工作联络处副主任禹文杰，人大工作联络处工委主任闫战胜，金明池街道党工委书记张宁，主任石本龙，人大工委主任曹亚磊等陪同调研。调研组一行实地观摩了街道党建设施和党建办公场所，。
answer:2023年4月13日下午，南阳市人大常委会副秘书长、机关党委书记贾斌一行到金明池街道调研观摩党建工作。调研组一行包括了开封市人大常委会人事工委副主任刘红帅、市人大常委会机关党委副书记、预算工委副主任沈博等人大主要领导，以及示范区人大工作联络处副主任禹文杰、人大工作联络处工委主任闫战胜、金明池街道党工委书记张宁、主任石本龙、人大工委主任曹亚磊等陪同调研。 调研组一行实地观摩了金明池街道党建设施和党建办公场所，参观了街道党建工作展示厅，并听取了金明池街道党工委书记的汇报。在听完汇报后，调研组一行就党建工作的发展历程、实践经验、亮点做法等进行了详细的交流和探讨，分享了各自所在地党建工作的经验，对于今后的党建工作也进行了投入性的建议。 调研组一行的到来，为金明池街道的党建工作注入了新的活力和动力，也对金明池街道的党建工作给予了肯定和支持，为今后的发展指明了方向。其次，调研组一行的到来，也为各位调研组成员相互学习和交流提供了更为广阔、更为深入、更为实际的平台，使大家更好地把握党建工作的发展方向，更好地推进党建工作的深入开展。