self.robot = Robot() self.move_robot_server_ = self.create_service(MoveRobot,"move_robot", self.handle_move_robot) self.robot_status_publisher_ = self.create_publisher(RobotStatus,"robot_status", 10) self.publisher_timer_ = self.create_timer(0.5, self.publisher_timer_callback) def publish...
self.publisher_ = self.create_publisher(String, 'topic', 10) timer_period = 1 # seconds self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 def timer_callback(self): msg = String() msg.data = 'Hello, world! %d' % self.i self.publisher_.publish(msg) s...
create_publisher(String, 'topic', 10) timer_period = 0.5 # seconds self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 def timer_callback(self): msg = String() msg.data = 'Hello World: %d' % self.i self.publisher_.publish(msg) self.get_logger().info(...
self.robot = Robot() self.move_robot_server_ = self.create_service(MoveRobot,"move_robot", self.handle_move_robot) self.robot_status_publisher_ = self.create_publisher(RobotStatus,"robot_status", 10) self.publisher_timer_ = self.create_timer(0.5, self.publisher_timer_callback) def publish...
self.send_goal_timer_ = self.create_timer(1, self.send_goal) def send_goal(self): """发送目标""" self.send_goal_timer_.cancel() goal_msg = MoveRobot.Goal() goal_msg.distance = 5.0 self.action_client_.wait_for_server() self._send_goal_future = self.action_client_.send_goal_asy...
create_timer(1, None) timer2 # noqa assert 2 == len(tuple(node.timers)) assert node.destroy_timer(timer1) assert 1 == len(tuple(node.timers)) finally: node.destroy_node() assert 0 == len(tuple(node.timers)) finally: rclpy.shutdown(context=context) ...
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 = 0.5 # seconds self.timer = self.create_timer(...
问用于ROS2的RCLPY库中的速率和睡眠函数EN一、单选题(本大题共6小题, 每小题4分, 共24分。) 1...
self.timer = self.create_timer(0.5, self.timer_callback) def timer_callback(self): """定时器回调函数""" # 获取参数 log_level = self.get_parameter("rcl_log_level").value # 设置参数 self.get_logger().set_level(log_level) print( ...
self.timer = self.create_timer(0.5, self.timer_callback) def timer_callback(self): """ 定时器回调函数 """ msg = String() msg.data = 'backup' self.command_publisher_.publish(msg) self.get_logger().info(f'发布了指令:{msg.data}') #打印一下发布的数据 ...