上述程序,利用到我在上篇博客中所提到的ROS Images和OpenCV Images之间的转化。 程序中,订阅的是webcam的视频信息(此处可以结合前一篇博文代码(1)中的发布话题的脚本进行调试): rospy.Subscriber('webcam/image_raw', Image, callback) 1. 当然,如果是使用kinect,也可以把话题改为Kinect所对应的,如: rospy.Subs...
importrospyfromstd_msgs.msgimportStringdefcallback(data):rospy.loginfo("I heard: %s",data.data)deflistener():# 初始化一个名为'talker'的ROS节点rospy.init_node('listener',anonymous=True)# 创建一个订阅器,订阅'talker'话题rospy.Subscriber("chatter",String,callback)# 保持活跃状态,等待接收消息rospy...
wget -O member_function_with_topic_statistics.cpphttps://raw.githubusercontent.com/ros2/examples/master/rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp 在Windows操作系统中,右键点击这个链接https://raw.githubusercontent.com/ros2/examples/master/rclcpp/topics/minimal_subscriber/...
添加非ROS2功能包的依赖项时,需要将其对于的头文件路径在include_directories中写明。而对于依赖项为ROS2功能包时,则无需此操作。 代码语言:text 复制 add_library(nav2_costmap_2d_core SHARED src/array_parser.cpp src/costmap_2d.cpp src/layer.cpp src/layered_costmap.cpp src/costmap_2d_ros.cpp src/...
/usr/bin/env python3#coding:utf-8#声明环境是Python3,编码格式为utf-8importrospy #导入ros相关文件from jhr_imu.msgimportWT61CTTL #导入自定义话题类型文件from jhr_imu.srvimport* #导入自定义服务类型文件importserial #导入串口通讯相关文件#从串口读取的原始数...
subscriber_member_function.cpp #include <memory> #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" using std::placeholders::_1; class MinimalSubscriber : public rclcpp::Node { public: MinimalSubscriber() : Node("minimal_subscriber") { subscription_ = this->create_subscription<st...
intraprocess_subscriber_link.cpp --- void IntraProcessSubscriberLink::enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy) { boost::recursive_mutex::scoped_lock lock(drop_mutex_); if (dropped_) { return; } ROS_ASSERT(subscriber_); subscriber_->handleMessage(m, ser, nocopy);...
ros::Subscriber sub = ros::Subscriber("/cmd_vel", 10, &rovers::cmd_vel_callback, this); // 计算姿态并转换为四元数表示 tf::Quaternion q; tf2::pose_from_vector(tf, twist.linear.x, twist.angular.z, q); // 将四元数转换为欧拉角并发送回节点 twist.linear.x = q[0]; twist.angular...
ros::NodeHandle nh; std_msgs::String str_msg; //publish and subscribe // ros::Publisher pub("Arduino2PC",&str_msg); void Servo_Control(const std_msgs::UInt16& cmd_msg) { servo.write(cmd_msg.data); } ros::Subscriber <std_msgs::UInt16> sub("PC2Arduino", &Servo_Control ); char...
@wjwwoodIf you have time to look at this, I'd appreciate a review. @Crola1702FYI, this should fix the flaky testhttps://ci.ros2.org/view/nightly/job/nightly_linux_repeated/3515/testReport/junit/rclcpp/TestAddCallbackGroupsToExecutorStable_MultiThreadedExecutor/subscriber_triggered_to_receive_me...