serializers.py 文件源码

def __get_point_msg(cls, data, frame):
        """
        Deserializes a location to a message of type PointStamped.

        Args:
            data: A dictionary containing the location.
            frame: Frame for the point.

        Returns:
            A message of type PointStamped with the location.
        """
        header = Header()
        header.stamp = rospy.get_rostime()
        header.frame_id = frame

        msg = GeoPointStamped()
        msg.header = header

        msg.position.latitude = data["latitude"]
        msg.position.longitude = data["longitude"]

        return msg