如何接收RVIZ中的２D Pose Estimate 和2D Nav Ｇｏal

转载自：https://www.cnblogs.com/fuhang/p/12105561.html

如何接收RVIZ中的２D Pose Estimate 和2D Nav　Ｇｏal

#include "ros/ros.h"
#include "std_msgs/String.h"
#include 
#include 
#include 

void chatterCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)
{
  double x=msg->pose.pose.position.y;
  double y=msg->pose.pose.position.x;
  //double theta=msg->pose.pose.orientation;
  std::cout<point.x;
  double y=msg->point.y;
  //double theta=msg->pose.pose.orientation;
  std::cout<