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={ 'console_scripts': [ "node_02 = examp...
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...
from rclpy.node import Node 定义节点类: class MinimalNode(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) n...
ros2 pkg create example_interfaces_rclpy --build-type ament_python --dependencies rclpy example_ros2_interfaces --destination-directory src --node-name example_interfaces_robot_02 --maintainer-name "fishros" --maintainer-email "fishros@foxmail.com" touch src/example_interfaces_rclpy/example_interfa...
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(...
destroy_node() rclpy.shutdown() if __name__ == '__main__': main() 通过3年多ROS2教学发现,学生掌握这些非常轻松,但是知识迁移的能力欠缺,此处说明。 比如使用主题发布字符串如何实现: 参考python代码思考 from std_msgs.msg import String msg.data = 'Hello World: %d' % self.i ros2 topic pub...
Failed to create rclpy node with error message "buffer overflow detected ***: terminated" while maybe hundreds of processes held index(they were not running any more though). Unless explicitly call shutdown process of each process ending, it produces buffer overflow when we create ros2 rclpy ...
Bug report Threading issue with rclpy when accessing node lists in a non-thread-safe manner. I've prepared a reproducible example in here Operating System: Ubuntu 22.04 Installation type: binaries Version or commit hash: Humble DDS imple...
ros2 pkg create example_action_rclpy --build-type ament_python --dependencies rclpy robot_control_interfaces --destination-directory src --node-name action_robot_02 --maintainer-name "fishros" --maintainer-email "fishros@foxmail.com" # 手动再创建action_control_02节点文件 ...
ros2 pkg create example_service_rclpy --build-type ament_python --dependencies rclpy example_interfaces --node-name service_server_02 1. 2. 接着你会惊奇的发现,依赖,setup.py中的安装配置,ROS2都帮你加好了。 这是因为--node-name service_server_02会帮你创建好节点文件和添加执行文件。