您好，我自己画了一个铲车的简化模型，是中间铰接转向的。在gazebo里面运行之后车的轮子沉到地下，车自己滑行偏转，怎么解决

下面是我的xacro文件：

<?xml version="1.0" encoding="utf-8"?>

<robot name="xul307a" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:include filename="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
  <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>

  <link name="base_footprint">
        <visual>
            <geometry>
                <sphere radius="0.001" />
            </geometry>
        </visual>
  </link>

  <link name="base_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="4049.8" />
        <!-- <inertia
        ixx="7926.94"
        ixy="0"
        ixz="0"
        iyy="7723.8"
        iyz="0"
        izz="613.68" /> -->
      <inertia
        ixx="613.68"
        ixy="0"
        ixz="0"
        iyy="7723.8"
        iyz="0"
        izz="7926.94" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="4.72 0.78 1.1" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="4.72 0.78 1.1" />
      </geometry>
    </collision>
  </link>

  <joint name="base_link2base_footprint" type="fixed">
      <parent link="base_footprint" />
      <child link="base_link"/>
      <origin xyz="0 0 1.067" />
  </joint>


<link name="back_right_wheel">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="639.613" />
      <inertia 
        ixx="87.55" 
        ixy="0.00" 
        ixz="0.00"
        iyy="87.55" 
        iyz="0.00" 
        izz="156.705" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
    </collision>
  </link>

  <joint
    name="back_right_wheel2base_link"
    type="continuous">
    <origin
      xyz="0.59665 -0.7504 -0.3671"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="back_right_wheel" />
    <axis
      xyz="0 0 -1" />
  </joint>

  <link
    name="back_left_wheel">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="639.613" />
      <inertia
        ixx="87.55"
        ixy="0.00"
        ixz="0.00"
        iyy="87.55"
        iyz="0.00"
        izz="156.705" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
    </collision>
  </link>

  <joint
    name="back_left_wheel2base_link"
    type="continuous">
    <origin
      xyz="0.59665 0.7504 -0.3671"
      rpy="1.5707 0 -3.1416" />
    <parent
      link="base_link" />
    <child
      link="back_left_wheel" />
    <axis
      xyz="0 0 -1" />
  </joint>

  <link
    name="steering_hinge_link">
    <inertial>
      <origin
        xyz="2.127 0 0"
        rpy="0 0 0" />
      <mass
        value="2985.8" />
      <!-- <inertia
        ixx="3314.3"
        ixy="0"
        ixz="0"
        iyy="3164.6"
        iyz="0"
        izz="452.45" /> -->
        <inertia
        ixx="452.45"
        ixy="0"
        ixz="0"
        iyy="3314.3"
        iyz="0"
        izz="3164.6" /> 
    </inertial>
    <visual>
      <origin
        xyz="2.127 0 0"
        rpy="0 0 0" />
      <geometry>
        <box size="3.48 0.78 1.1" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="2.127 0 0"
        rpy="0 0 0" />
      <geometry>
        <box size="3.48 0.78 1.1" />
      </geometry>
    </collision>
  </link>

  <joint
    name="steering_hinge2base_link"
    type="revolute">
    <origin
      xyz="2.36 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="steering_hinge_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.74"
      upper="0.74"
      effort="0"
      velocity="0" />
  </joint>

  <link
    name="front_right_wheel">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="639.613" />
      <inertia
        ixx="87.55"
        ixy="0.00"
        ixz="0.00"
        iyy="87.55"
        iyz="0.00"
        izz="156.705" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
    </collision>
  </link>

  <joint
    name="front_right_wheel2steering_hinge"
    type="continuous">
    <origin
      xyz="1.42 -0.75 -0.366"
      rpy="1.57 0 0" />
    <parent
      link="steering_hinge_link" />
    <child
      link="front_right_wheel" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="front_left_wheel">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="639.613" />
      <inertia
        ixx="87.55"
        ixy="0.00"
        ixz="0.00"
        iyy="87.55"
        iyz="0.00"
        izz="156.705" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front_left_wheel2steering_hinge"
    type="continuous">
    <origin
      xyz="1.42 0.75 -0.366"
      rpy="1.57 0 -3.14" />
    <parent
      link="steering_hinge_link" />
    <child
      link="front_left_wheel" />
    <axis
      xyz="0 0 -1" />
  </joint>

  <VLP-16 parent="base_link" name="velodyne_front" topic="/velodyne_points_front" hz="10" samples="1801"  min_range="0.8" max_range="130.0" min_angle="-${M_PI}" max_angle="${M_PI}" >   
    <origin xyz="2.505 0 1.26" rpy="0 0 0" />    
  </VLP-16>

  <VLP-16 parent="base_link" name="velodyne_back" topic="/velodyne_points_back" hz="10" samples="1801"  min_range="0.8" max_range="130.0" min_angle="-${M_PI}" max_angle="${M_PI}" >   
    <origin xyz="-2.2056 0 0.7538" rpy="0 0 3.14" />    
  </VLP-16>


<!-- motors and transmissions for the two rear wheels -->
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="back_right_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="back_left_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <!-- EPS and transmissions for the front steering -->
  <transmission name="tran3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="steering_hinge2base_link">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="eps">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1000000</motorTorqueConstant>
    </actuator>
  </transmission>


  <!-- Friction Parametres -->

  <gazebo reference="back_right_wheel">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>
  </gazebo>  

  <gazebo reference="back_left_wheel">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>         
  </gazebo>   

  <gazebo reference="front_right_wheel">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>         
  </gazebo> 

  <gazebo reference="front_left_wheel">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>           
  </gazebo>    

  <!-- Gazebo Plugins -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/xul307a</robotNamespace>
      <robotParam>robot_description</robotParam>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <!-- <legacyModeNS>true</legacyModeNS> -->
    </plugin>
  </gazebo>

  <gazebo>
    <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
      <jointName>back_right_wheel2base_link, back_left_wheel2base_link, steering_hinge2base_link,front_right_wheel2steering_hinge,front_left_wheel2steering_hinge</jointName>
      <updateRate>50.0</updateRate>
      <robotNamespace>/xul307a</robotNamespace>
      <alwaysOn>true</alwaysOn>
    </plugin>
  </gazebo>


</robot>

@小鱼 抱歉，我的。我没写ros::spinOnce()

之前自己用ouster激光雷达录了一个包,分别跑了aloam和legoloam,然后保存了两个算法的轨迹,两个算法的轨迹时间戳不一样,但是我搭建了一个仿真环境,录了velodyne的包,跑算法时间戳一样.想用evo对比一下轨迹,但是时间戳不一样.
ouster录的包跑ALOAM的时间戳如下:

ouster录的包跑legoLOAM轨迹时间戳如下

包播放的时间戳

我从github上面下载了一个程序,按照readme安装了MPCTools,然后运行之后出现说mpctools里面没有'getCasadiFunc'这个函数,我按mpctools安装要求重新装了也不行,想请教一下大家怎么解决.

Traceback (most recent call last):
  File "/home/github/articulated_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/articulated_tractor_trailer_trajectory.py", line 247, in <module>
    start()
  File "/home/github/articulated_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/articulated_tractor_trailer_trajectory.py", line 127, in start
    (controller, Nt, Delta) = export_articulated_tractor_trailer_model()
  File "/home/github/articulated_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/export_articulated_tractor_trailer_model.py", line 59, in export_articulated_tractor_trailer_model
    ode_casadi = mpc.getCasadiFunc(ode_control_trailer, [Nx, Nu], ["x", "u"], funcname="f")
AttributeError: module 'mpctools' has no attribute 'getCasadiFunc'

[articulated_tractor_trailer_trajectory-5] process has died [pid 11460, exit code 1, cmd /home/github/articulated_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/articulated_tractor_trailer_trajectory.py __name:=articulated_tractor_trailer_trajectory __log:=/home/.ros/log/3108ace8-6d2a-11ed-8666-d4548b799fd2/articulated_tractor_trailer_trajectory-5.log].
log file: /home/.ros/log/3108ace8-6d2a-11ed-8666-d4548b799fd2/articulated_tractor_trailer_trajectory-5*.log

我在进行铲车仿真的时候，控制转向角的时候模型反应比较慢，置0的时候不能回到0位，转向运动的时候模型发生抖动。各位大佬看看是什么原因

<!-- motors and transmissions for the two rear wheels -->
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="back_right_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="back_left_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <!-- EPS and transmissions for the front steering -->
  <transmission name="tran3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="steering_hinge2base_link">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="eps">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="front_right_wheel2steering_hinge">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor3">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <transmission name="tran5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="front_left_wheel2steering_hinge">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor4">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission> 


  <!-- Friction Parametres -->

  <gazebo reference="back_right_wheel">
    <mu1>2.0</mu1>
    <mu2>2.0</mu2>
    <kp>10000000</kp>
    <kd>1</kd>
  </gazebo>  

  <gazebo reference="back_left_wheel">
    <mu1>2.0</mu1>
    <mu2>2.0</mu2>
    <kp>10000000</kp>
    <kd>1</kd>         
  </gazebo>   

  <gazebo reference="front_right_wheel">
    <mu1>2.0</mu1>
    <mu2>2.0</mu2>
    <kp>10000000</kp>
    <kd>1</kd>         
  </gazebo> 

  <gazebo reference="front_left_wheel">
    <mu1>2.0</mu1>
    <mu2>2.0</mu2>
    <kp>10000000</kp>
    <kd>1</kd>           
  </gazebo>   

控制的ymal文件

xul307a:
# controls the rear two tires based on individual motors
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
  back_right_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: back_right_wheel2base_link
    pid: {p: 100.0, i: 0.01, d: 10.0}
  back_left_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: back_left_wheel2base_link
    pid: {p: 100.0, i: 0.01, d: 10.0}
  steering_position_controller:
    type: effort_controllers/JointPositionController
    joint: steering_hinge2base_link
    pid: {p: 25000, i: 0, d: 10.0}
  front_right_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: front_right_wheel2steering_hinge
    pid: {p: 100.0, i: 0.01, d: 10.0}
  front_left_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: front_left_wheel2steering_hinge
    pid: {p: 100.0, i: 0.01, d: 10.0}    

不能上传视频，我传到b站上去了
链接文本
链接文本

好的，谢谢大佬，我再看看

我修改了launch文件和scanRegistration.cpp文件，没有跑成功。

<launch>
    
    <param name="scan_line" type="int" value="128" />

    <!-- if 1, do mapping 10 Hz, if 2, do mapping 5 Hz. Suggest to use 1, it will adjust frequence automaticlly -->
    <param name="mapping_skip_frame" type="int" value="1" />

    <!-- remove too closed points -->
    <param name="minimum_range" type="double" value="5"/>

    <remap from="/velodyne_points" to="/os_cloud_node/points"/>

    <param name="mapping_line_resolution" type="double" value="0.4"/>
    <param name="mapping_plane_resolution" type="double" value="0.8"/>

    <node pkg="aloam_velodyne" type="ascanRegistration" name="ascanRegistration" output="screen" />

    <node pkg="aloam_velodyne" type="alaserOdometry" name="alaserOdometry" output="screen" />

    <node pkg="aloam_velodyne" type="alaserMapping" name="alaserMapping" output="screen" />

    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find aloam_velodyne)/rviz_cfg/aloam_velodyne.rviz" />
    </group>

</launch>

    bool halfPassed = false;
    int count = cloudSize;
    PointType point;
    std::vector<pcl::PointCloud<PointType>> laserCloudScans(N_SCANS);
    for (int i = 0; i < cloudSize; i++)
    {
        point.x = laserCloudIn.points[i].x;
        point.y = laserCloudIn.points[i].y;
        point.z = laserCloudIn.points[i].z;

        float angle = atan(point.z / sqrt(point.x * point.x + point.y * point.y)) * 180 / M_PI;
        int scanID = 0;

        if (N_SCANS == 16)
        {
            scanID = int((angle + 15) / 2 + 0.5);  //确定每一个点的scanID，与垂直角度有关，确定这个点属于那个scan
            if (scanID > (N_SCANS - 1) || scanID < 0)  
            {
                count--;  //有效点减一
                continue;
            }
        }
        else if (N_SCANS == 32)
        {
            scanID = int((angle + 92.0/3.0) * 3.0 / 4.0);
            if (scanID > (N_SCANS - 1) || scanID < 0)
            {
                count--;
                continue;
            }
        }
        else if (N_SCANS == 64)
        {   
            if (angle >= -8.83)
                scanID = int((2 - angle) * 3.0 + 0.5);
            else
                scanID = N_SCANS / 2 + int((-8.83 - angle) * 2.0 + 0.5);

            // use [0 50]  > 50 remove outlies 
            if (angle > 2 || angle < -24.33 || scanID > 50 || scanID < 0)
            {
                count--;
                continue;
            }
        }
        else if (N_SCANS == 128)
        {
            scanID = int((angle + 45) / 2 + 0.5);  
            if (scanID > (N_SCANS - 1) || scanID < 0)  
            {
                count--;  
                continue;
            }
        }
        else
        {
            printf("wrong scan number\n");
            ROS_BREAK();
        }
        //printf("angle %f scanID %d \n", angle, scanID);

        float ori = -atan2(point.y, point.x);
        if (!halfPassed)
        { 
            if (ori < startOri - M_PI / 2)
            {
                ori += 2 * M_PI;
            }
            else if (ori > startOri + M_PI * 3 / 2)
            {
                ori -= 2 * M_PI;
            }

            if (ori - startOri > M_PI)
            {
                halfPassed = true;
            }
        }
        else
        {
            ori += 2 * M_PI;
            if (ori < endOri - M_PI * 3 / 2)
            {
                ori += 2 * M_PI;
            }
            else if (ori > endOri + M_PI / 2)
            {
                ori -= 2 * M_PI;
            }
        }

        float relTime = (ori - startOri) / (endOri - startOri);
        point.intensity = scanID + scanPeriod * relTime;// intensity字段的整数部分存放scanID，小数部分存放归一化后的fireID
        laserCloudScans[scanID].push_back(point); // 将点根据scanID放到对应的子点云laserCloudScans中
    }

主要修改了launch文件里面的线数，和更改了话题，scanRegistration.cpp文件里面按照16线的格式增加了128线的scanID。

@小鱼 抱歉，我的。我没写ros::spinOnce()

@小鱼 您好，我在回调函数和下面的ros::ok里面都打印输出了，回调函数没有调用，没有打印输出。我看了订阅和回调写的好像没什么问题

@小鱼 您好，我看了订阅的/aft_mapped_to_init和marker的话题/robot_marker，/aft_mapped_to_init数据是在更新的，/robot_marker数据一直没变。

@小丑汪 图片没有传上去

各位大佬，我想在保存的pcd地图里面用marker显示机器人的位置，我订阅了机器人的坐标形象，但是机器人移动位置变化后，marker位置不变，一直在初始位置；marker不能随机器人移动而更新，希望有了解的大佬帮忙解答一下。

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <nav_msgs/Odometry.h>

#include <geometry_msgs/Point.h>

double temp_x,temp_y,temp_z;
double temp_or_x,temp_or_y,temp_or_z,temp_or_w;

void record_point(const nav_msgs::Odometry::ConstPtr& odom)
{
    temp_x = odom->pose.pose.position.x;
    temp_y = odom->pose.pose.position.y;
    temp_z = odom->pose.pose.position.z;
    temp_or_w = odom->pose.pose.orientation.w;
    temp_or_x = odom->pose.pose.orientation.x;
    temp_or_y = odom->pose.pose.orientation.y;
    temp_or_z = odom->pose.pose.orientation.z;
    
}
 
int main( int argc, char** argv )
{
  ros::init(argc, argv, "points_marker");
  ros::NodeHandle n;
  ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("/robot_marker", 10);
  ros::Subscriber odom_pose = n.subscribe<nav_msgs::Odometry>("/aft_mapped_to_init",100,record_point);
  visualization_msgs::Marker points_marker;

  ros::Rate r(30);
 
  while (ros::ok())
  {
 

    points_marker.header.frame_id ="/camera_init";
    points_marker.header.stamp =ros::Time::now();
    points_marker.ns ="points_marker";
    points_marker.action =visualization_msgs::Marker::ADD;
    points_marker.id = 0;
    points_marker.type = visualization_msgs::Marker::POINTS;
    geometry_msgs::Point obj;
    obj.x = temp_x;
    obj.y = temp_y;
    obj.z = temp_z;
    points_marker.pose.orientation.w = 1;

 
    // points_marker markers use x and y scale for width/height respectively
    points_marker.scale.x = 1;
    points_marker.scale.y = 1;
    points_marker.scale.z = 1;

    // points_marker are green
    points_marker.color.r = 0.0f;
    points_marker.color.g = 1.0f;
    points_marker.color.b = 0.0f;
    points_marker.color.a = 1.0f;
    points_marker.points.push_back(obj);
 
    points_marker.lifetime = ros::Duration(0.1); // 生命周期

    marker_pub.publish(points_marker);
 
    r.sleep();

  }
}
![20220718.jpg](/forum/assets/uploads/files/1658153571513-20220718-resized.jpg)