geometry_msgsPointStamped psAtSon2; 注释

// This line declares a variable named "psAtSon2" of type "geometry_msgs::PointStamped" // It is used to store a point in three-dimensional space, along with a timestamp // The "geometry_msgs" namespace contains messages used in robot kinematics and navigation // The "PointStamped" message contains a "point" field that stores the coordinates of the point // and a "header" field that stores metadata such as the timestamp and coordinate frame of the point.