附录

ROS消息类型对照表

msg类型	C++对应类型	Python对应类型
bool	uint8_t	bool
int8	int8_t	int
int16	int16_t	int
int32	int32_t	int
int64	int64_t	int，long
uint8	uint8_t	int
uint16	uint16_t	int
uint32	uint32_t	int
uint64	uint64_t	int，long
float32	float	float
float64	float	float
string	std:string	str，bytes
time	ros:Time	rospy.Time
duration	ros::Duration	rospy.Duration