# executor.add_node(action_robot_02) # executor.spin() rclpy.spin(action_robot_02) rclpy.shutdown() 1.4 action_control_02.py import rclpy from rclpy.action import ActionClient from rclpy.node import Node # 导入Action接口 from robot_control_interfaces.action import MoveRobot class ActionControl...
3. 新建节点对象 4. spin循环节点 5. 关闭客户端库 """ 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. ...
action_robot_02 = ActionControl02("action_control_02") rclpy.spin(action_robot_02) rclpy.shutdown() 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 1.5 setup.py AI检测代码解析 entry_points={ 'console_scripts': [ 'action_robot_02 = example_acti...
node = MinimalNode() rclpy.spin(node) node.destroy_node() rclpy.shutdown() if __name__ == '__main__': main() 发布和订阅消息 4.1 创建发布者 from std_msgs.msg import String class PublisherNode(Node): def __init__(self): super().__init__('publisher_node') self.publisher_ = s...
spin(minimal_subscriber) # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the node object) minimal_subscriber.destroy_node() rclpy.shutdown() if __name__ == '__main__': main() 通过3年多ROS2教学发现,学生掌握这些...
() msg.data = 'Hello World: %d' % self.i self.publisher_.publish(msg) self.get_logger().info('Publishing: "%s"' % msg.data) self.i += 1 def main(args=None): rclpy.init(args=args) minimal_publisher = MinimalPublisher() rclpy.spin(minimal_publisher) minimal_publisher.destroy_node(...
self._spin_once_impl(timeout_sec) File"/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 792,in_spin_once_implfuture.result() File"/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 94,inresult ...
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 ...
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 2.服务端实现 2.1 看 API 地址小鱼放这里,大家自行看下即可 Node — rclpy 0.6.1 documentation (ros2.org) 2.2 写代码 # 导入接口 from example_interfaces.srv import AddTwoInts ...
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. 15. 16. 17. 18. example_interfaces_control_02.py AI检测代码解析 #!/usr/bin/env python3 ...