把ros消息转换成中文输出

c++实现

发布

//发布性能评估数据 /trilateration_time_log
void publishTrilaterationLog(
        const int reflectorPanelPoints_size,
        const double duration_count,
        const std::string& resultType,
        const std::string& resultChineseMessage,
        const std::string& resultENMessage,
        const std::string& className,
        int   classLine,
        const int time_log_fig,
        const int matchokReflectorPanelPointSize

) {

/*

    选择性能评估数据   /trilateration_time_log
    int time_log_fig_=-1;
    -1:全部关闭，0：全部打开 ，  -2:只打开 "1：FindCircle拟定圆心坐标，6：匹配算法，9：位姿推算" 3个性能评估数据。
    1：FindCircle: 通过雷达强度数据，使用三角函数拟定圆心坐标，并存入反光板数据缓存中
    2：匹配数据: 通过得到的圆心坐标，在已经匹配成功的反光板数据缓存中匹配数据
    3：匹配数据: 通过得到的圆心坐标，在储存所有的反光板数据缓存中匹配数据
    4：匹配数据: 通过得到的圆心坐标，在反光板数据缓存中匹配数据
    5：匹配数据: 匹配走广度优先算法 或 匹配走广度优先算法 + 优先使用匹配好的反光板数据
    6：匹配算法：从查找圆心到匹配完成需要的总执行时间
    7：位姿推算: 基于之前已经匹配上了反光板，推算位姿
    8：位姿推算: 经典三边定位最小二乘法，推算位姿
    9：位姿推算: 基于之前已经匹配上了反光板 + 经典三边定位最小二乘法，推算位姿
*/

    trilateration::trilateration_read_time_log trilateration_read_time_log2;
    trilateration_read_time_log2.result_type = resultType;
    trilateration_read_time_log2.result_chinese_message = resultChineseMessage;
    trilateration_read_time_log2.result_EN_message = resultENMessage;
    trilateration_read_time_log2.className = className;
    trilateration_read_time_log2.classLine = classLine;
    trilateration_read_time_log2.num_points = reflectorPanelPoints_size;
    trilateration_read_time_log2.execution_time = duration_count;
    trilateration_read_time_log2.time_log_fig=time_log_fig;
    trilateration_read_time_log2.matchokReflectorPanelPointSize=matchokReflectorPanelPointSize;//队列数量
    time_log_pub_.publish(trilateration_read_time_log2);
}


         //发布性能评估数据 10：位姿推算: 所有使用默认的 tf_last_odom_to_map_transform_ 数据 发布的移动机器人坐标
                        if(time_log_fig_==0||time_log_fig_==10) {//-1:全部关闭，0：全部打开 ，  -2:只打开 "1：FindCircle拟定圆心坐标，6：匹配算法，9：位姿推算" 3个性能评估数据。 ，1：打开第一个，2：打开第二个 3：.....
                            std::string resultType = "trilateration_execution";
                            std::string resultChineseMessage = " 使用上一次 mapTodom -> tf_last_odom_to_map_transform_ 的tf数据，发布移动机器人的位置坐标。[mutex]";
                            std::string resultENMessage = "Use the previous mapTodom ->tf_1ast_odom_to-map_transform_ tf data to publish the position coordinates of the mobile robot. [mutex]";
                            std::string className = __FILE__; // 更改为实际的文件名
                            int classLine = __LINE__; // 更改为实际的行号
                            ///trilateration_time_log
                            publishTrilaterationLog(0, duration.count(), resultType, resultChineseMessage, resultENMessage, className, classLine,time_log_fig_,matchokReflectorPanelPoint_.size());
                        }

接收【重点看接收转码】

#include "ros/ros.h"
#include "trilateration/trilateration_read_time_log.h"
#include <locale>
#include <codecvt>
#include <string>
#include <sstream>

// 将 Unicode 转义字符串解码为 UTF-8 编码的中文字符串
std::string decodeUnicodeString(const std::string& unicode_string)
{
    std::string decoded_string;
    size_t pos = 0;
    size_t last_pos = 0;

    while ((pos = unicode_string.find("\\u", last_pos)) != std::string::npos) {
        decoded_string.append(unicode_string, last_pos, pos - last_pos);
        std::string hex_code = unicode_string.substr(pos + 2, 4);
        unsigned int code_point;
        std::stringstream ss;
        ss << std::hex << hex_code;
        ss >> code_point;
        char utf8_char[5] = {0};
        if (code_point <= 0x7F) {
            utf8_char[0] = code_point;
        } else if (code_point <= 0x7FF) {
            utf8_char[0] = 0xC0 | (code_point >> 6);
            utf8_char[1] = 0x80 | (code_point & 0x3F);
        } else if (code_point <= 0xFFFF) {
            utf8_char[0] = 0xE0 | (code_point >> 12);
            utf8_char[1] = 0x80 | ((code_point >> 6) & 0x3F);
            utf8_char[2] = 0x80 | (code_point & 0x3F);
        } else {
            utf8_char[0] = 0xF0 | (code_point >> 18);
            utf8_char[1] = 0x80 | ((code_point >> 12) & 0x3F);
            utf8_char[2] = 0x80 | ((code_point >> 6) & 0x3F);
            utf8_char[3] = 0x80 | (code_point & 0x3F);
        }
        decoded_string += std::string(utf8_char);
        last_pos = pos + 6;
    }

    decoded_string.append(unicode_string, last_pos);
    return decoded_string;
}

// 订阅的回调函数
void chatterCallback(const trilateration::trilateration_read_time_log::ConstPtr& msg)
{
    // 将 Unicode 转义字符串解码为中文字符串
    std::string decoded_chinese_message = decodeUnicodeString(msg->result_chinese_message);

    // 输出所有字段的数据
    ROS_INFO("Time Log Fig: %d", msg->time_log_fig);
    ROS_INFO("Result Type: %s", msg->result_type.c_str());
    ROS_INFO("Class Name: %s", msg->className.c_str());
    ROS_INFO("Class Line: %d", msg->classLine);
    ROS_INFO("Decoded Chinese Message: %s", decoded_chinese_message.c_str());
    ROS_INFO("English Message: %s", msg->result_EN_message.c_str());
    ROS_INFO("Result Message: %s", msg->result_message.c_str());
    ROS_INFO("Number of Points: %d", msg->num_points);
    ROS_INFO("Match OK Reflector Panel Point Size: %d", msg->matchokReflectorPanelPointSize);
    ROS_INFO("Execution Time: %s", msg->execution_time.c_str());
}

int main(int argc, char **argv)
{
  //  setlocale(LC_ALL, "");  //中文
    setlocale(LC_CTYPE,"zh_CN.utf8");
    ros::init(argc, argv, "listener");
    ros::NodeHandle n;

    ros::Subscriber sub = n.subscribe("/trilateration_time_log", 1000, chatterCallback);

    ros::spin();

    return 0;
}

python实现

import json

unicode_string = r"\u901A\u8FC7\u96F7\u8FBE\u5F3A\u5EA6\u6570\u636E\uFF0C\u5E76\u5B58\u5165\u53CD\u5149\u677F\u6570\u636E\u7F13\u5B58\u4E2D"
decoded_string = unicode_string.encode().decode('unicode_escape')
print(decoded_string)

控制台输出结果：