rclpy.init(args=args) # 初始化rclpy node = Node("node_02") # 新建一个节点 node.get_logger().info("大家好,我是node_02.") rclpy.spin(node) # 保持节点运行,检测是否收到退出指令(Ctrl+C) rclpy.shutdown() # 关闭rclpy 代码编写完成用Crtl+S进行保存。接着修改setup.py。 entry_points={ '...
rclpy.init(args=args) # 初始化rclpy node = Node("node_02") # 新建一个节点 node.get_logger().info("大家好,我是node_02.") rclpy.spin(node) # 保持节点运行,检测是否收到退出指令(Ctrl+C) rclpy.shutdown() # 关闭rclpy 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 1...
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(...
from rclpy.node import Node class Robot(): def __init__(self) -> None: pass class ExampleInterfacesRobot02(Node): def __init__(self,name): super().__init__(name) self.get_logger().info("节点已启动:%s!" % name) def main(args=None): rclpy.init(args=args) # 初始化rclpy node...
def __init__(self): super().__init__('minimal_node') 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() ...
node import Node from std_msgs.msg import String class MinimalSubscriber(Node): def __init__(self): super().__init__('minimal_subscriber') self.subscription = self.create_subscription( String, 'topic', self.listener_callback, 10) self.subscription # prevent unused variable warning def ...
def shutdown_handler(): print("exit") def main(args=None): rclpy.init(args=args) node = Node("TestNode") node.context.on_shutdown(shutdown_handler) rclpy.get_default_context().on_shutdown(shutdown_handler) rclpy.spin(node) I tried sending various signals: SIGINT, SIGTERM, SIGQUIT ...
1 初始化2 Node3 Topic3.1 Publisher3.2 Subscription4 Services4.1 Client4.2 Service5 Actions5.1 Action Client5.2 Action Server6 Timer7 Context AA SerifSans WhiteSepiaNight 7 RCLPY 1 初始化 # 初始化节点rclpy.init()# 启动节点rclpy.spin()# 启动一个节点rclpy.spin_once()# 启动节点直至工作完成rclpy...
from rclpy.node import Node # 导入Action接口 from robot_control_interfaces.action import MoveRobot class ActionControl02(Node): """Action客户端""" def __init__(self,name): super().__init__(name) self.get_logger().info(f"节点已启动:{name}!") ...
class ActionRobot02(Node): """机器人端Action服务""" def __init__(self,name): super().__init__(name) self.get_logger().info(f"节点已启动:{name}!") def main(args=None): """主函数""" rclpy.init(args=args) action_robot_02 = ActionRobot02("action_robot_02") ...