/*创建move_robot客户端*/ client_ = this->create_client<example_ros2_interfaces::srv::MoveRobot>( "move_robot"); /*订阅机器人状态话题*/ robot_status_subscribe_ = this->create_subscription<example_ros2_interfaces::msg::RobotStatus>("robot_status", 10, std::bind(&ExampleInterfacesControl::...
command_subscribe_ = this->create_subscription<std_msgs::msg::String>("command", 10, std::bind(&TopicSubscribe01::command_callback, this, std::placeholders::_1)); } private: // 声明一个订阅者 rclcpp::Subscription<std_msgs::msg::String>::SharedPtr command_subscribe_; // 收到话题数据...
/*创建move_robot客户端*/ client_ = this->create_client<example_ros2_interfaces::srv::MoveRobot>( "move_robot"); /*订阅机器人状态话题*/ robot_status_subscribe_ = this->create_subscription<example_ros2_interfaces::msg::RobotStatus>("robot_status", 10, std::bind(&ExampleInterfacesControl::...
利用rclcpp::PublisherFactory,rclcpp::SubscriptionFactory class封装了类型参数,隔离了模板类型参数的传递,获得了更好的抽象性; 第二个设计点是:rclcpp::Node接口的实现,通过代码可以看到实现不是直接用模板类型参数组装非类型抽象对象,然后调用内部接口;而是通过泛型为NodeT实现,也不是降级为某个interface类型: 这个方法...
利用rclcpp::PublisherFactory,rclcpp::SubscriptionFactory class封装了类型参数,隔离了模板类型参数的传递,获得了更好的抽象性; 第二个设计点是:rclcpp::Node接口的实现,通过代码可以看到实现不是直接用模板类型参数组装非类型抽象对象,然后调用内部接口;而是通过泛型为NodeT实现,也不是降级为某个interface类型: ...
#include <rclcpp/rclcpp.hpp> #include <rclcpp/executors/multi_threaded_executor.hpp> class MyNode : public rclcpp::Node { public: MyNode() : Node("my_node") { // 创建一个订阅者,用于接收消息 subscription_ = this->create_subscription<std_msgs::msg::String>( "...
clock_subscription_ = rclcpp::create_subscription<rosgraph_msgs::msg::Clock>( node_parameters_, node_topics_, "/clock", qos_, [state = std::weak_ptr<NodeState>(this->shared_from_this())]( std::shared_ptr<constrosgraph_msgs::msg::Clock> msg) { ...
c_str()); }; sub_ = this->create_subscription<std_msgs::msg::String>("topic02", 10, callback); // wait for message node_ = std::make_shared<rclcpp::Node>("wait_for_msg_node"); std::thread( [&]() { while (rclcpp::ok()) { std_msgs::msg::String out; auto ret = ...
node->create_publisher<geometry_msgs::msg::Twist>("mobot/cmd_vel",10); geometry_msgs::msg::Twistmobot_vel; rclcpp::Subscription::SharedPtrodom_sub= node->create_subscription("/mobot/odom",100,odom_callback); RCLCPP_INFO(rclcpp::get_logger("service"),"Ready to ...
foxy: That means replace therclcpp::FutureReturnCode::SUCCESSwithrclcpp::executor::FutureReturnCode::SUCCESS. 然后: galactic: 代码语言:javascript 代码运行次数:0 运行 AI代码解释 rclcpp::FutureReturnCode::SUCCESS humble: 代码语言:javascript 代码运行次数:0 ...