self.get_logger().info('Goal accepted :)') self._get_result_future = goal_handle.get_result_async() self._get_result_future.add_done_callback(self.get_result_callback) def get_result_callback(self, future): """获取结果反馈""" result = future.result().result self.get_logger().info...
self.get_logger().info('Goal accepted :)') self._get_result_future = goal_handle.get_result_async() self._get_result_future.add_done_callback(self.get_result_callback) def get_result_callback(self, future): """获取结果反馈""" result = future.result().result self.get_logger().info...
self.robot_status_publisher_.publish(msg) # 发布消息 self.get_logger().info(f'发布了当前的状态:{msg.status} 位置:{msg.pose}') def handle_move_robot(self,request, response): self.robot.move_distance(request.distance) response.pose = self.robot.get_current_pose() return response 1. 2. ...
get_logger().info('I heard: "%s"' % msg.data) def main(args=None): rclpy.init(args=args) minimal_subscriber = MinimalSubscriber() rclpy.spin(minimal_subscriber) # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the ...
get_parameter('my_int') param_double_array = self.get_parameter('my_double_array') self.get_logger().info("str: %s, int: %s, double[]: %s" % (str(param_str.value), str(param_int.value), str(param_double_array.value),)) Use the get_parameter(name) method to get the value...
self.get_logger().info("Restarting camera with port: " + str(self.camera_device_port_)) self.restart_camera = False def parameters_callback(self, params): for param in params: if param.name == "camera_device_port": self.camera_device_port_ = param.value self.restart_camera = True ...
>>> logger = logging.get_logger('blah') ... but it shouldn't be necessary to have that extra import everywhere in the code, and, since thetest_logging.pycode doesnotrequire that extra import, perhaps the issue is with my environment/setup?
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self.get_logger().info('Hello ROS 2 from Python node!') 初始化和运行节点: def main(args=None): rclpy.init(args=args) node = MinimalNode() rclpy.spin(node) node.destroy_node() rclpy.shutdown() 完整示例: import rclpy from rclpy.node import Node ...
self.get_logger().info("节点已启动:%s!" % name) def main(args=None): rclpy.init(args=args) # 初始化rclpy node = ServiceServer02("service_server_02") # 新建一个节点 rclpy.spin(node) # 保持节点运行,检测是否收到退出指令(Ctrl+C) ...