HowieHepburn

终端：openocd -f /usr/share/openocd/scripts/interface/cmsis-dap.cfg -f /usr/share/openocd/scripts/target/stm32f4x.cfg -c init -c halt -c "flash write_image erase /home/howie/32_prj/p-centerborad/build/P-centerborad.bin 0x08000000" -c reset -c shutdown Open On-Chip Debugger 0.12.0+dev-00271-g2c57d11c7-dirty (2023-07-19-20:04) Licensed under GNU GPL v2 For...

The modified part in Patchwork++: ``` ros::Publisher pub_cloud_msgs; cloud_msgs::ground_estimate cloud2cloudmsg(pcl::PointCloud cloud_curr,pcl::PointCloud cloud_gnd,const ros::Time& stamp, std::string frame_id = "map") { cloud_msgs::ground_estimate cloud_msg; cloud_msg.header.stamp = stamp; cloud_msg.header.frame_id = frame_id; cloud_msg.curr = cloud2msg(cloud_curr,...