接下来,创建MinimalPublisher类,该类继承自Node(或是Node的子类)。 classMinimalPublisher(Node): 接着是该类的构造函数定义。函数super().__ init__调用Node类的构造函数,并指定节点名称,本例中节点名称为minimal_publisher。 函数create_publisher声明节点在名为topic的话题上发布String类型(从std_msgs.msg模块导入)...
self.create_publisher(String,"sexy_girl", 10) 小鱼这里使用create_publisher方法来创建的发布者,该方法一共有三个参数,第一个是方法类型,第二个是话题名称,第三个是消息队列长度,第一个参数我们这里添了String,需要注意的是,这里的String并非Python自带的字符串类型,我们使用 from std_msgs.msg import String ...
新建文件publisher_member_function.py 内容如下: import rclpy from rclpy.node import Node from std_msgs.msg import String class MinimalPublisher(Node): def __init__(self): super().__init__('minimal_publisher') self.publisher_ = self.create_publisher(String, 'topic', 10) timer_period = 0....
#创建控制消息发布接口 self.pub_action = self.create_publisher(TwistStamped, "control_node/action", 10) #创建图像消息接收接口(消息类型,话题名称,回调函数,消息队列长度) self.sub_img = self.create_subscription(Image, "duckiebot_node/image", self.cb_image, 10) #创建图像转换工具 self.bridge = ...
create_publisher(Twist, 'output_vel', 10) self.timer = self.create_timer(0.05, self.control_cycle) def scan_callback(self, msg): self.last_scan = msg def control_cycle(self): if self.last_scan is None: return out_vel = Twist() if self.state == self.FORWARD: out_vel.linear.x ...
self.pub=self.create_publisher(Twist,'cmd_vel',10)# 创建发布者对象(消息类型、话题名、队列长度) self.timer=self.create_timer(0.5,self.timer_callback)# 创建一个定时器(单位为秒的周期,定时执行的回调函数) deftimer_callback(self):# 创建定时器周期执行的回调函数 ...
As we use OOP in ROS2, we first create a class which inherits from the Node class. The first thing we do is to call super() and pass the name of the node. Initialize the ROS2 Python publisher self.temperature_publisher_ = self.create_publisher( ...
:def__init__(self):super().__init__('minimal_publisher')self.publisher_=self.create_publisher...
新建文件publisher_member_function.py 内容如下: import rclpy from rclpy.node import Node from std_msgs.msg import String class MinimalPublisher(Node): def __init__(self): super().__init__('minimal_publisher') self.publisher_ = self.create_publisher(String, 'topic', 10) timer_period = 0....
Create python-publish.yml Dec 2, 2021 changelog Update ChangeLog Jul 28, 2024 examples Applied small changes to PR for more clarity and less bloat. Jun 30, 2024 figures Merge branch 'master' into labels Jun 30, 2024 tests visualkeras: unifying drawing routines ...