*/ ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); //告诉 master 我们要订阅 chatter 话题上的消息。当有消息发布到这个话题时,ROS 就会调用 chatterCallback() 函数。第二个参数是队列大小,以防我们处理消息的速度不够快,当缓存达到 1000 条消息后,再有新的消息到来就将开始丢弃...
*/ros::Subscriber sub=n.subscribe("chatter",1000,chatterCallback);/** * ros::spin() will enter a loop, pumping callbacks. With this version, all * callbacks will be called from within this thread (the main one). ros::spin() * will exit when Ctrl-C is pressed, or the node is s...
* away the oldest ones.*/ros::Subscriber sub= n.subscribe("chatter",1000, chatterCallback); //告诉 master 我们要订阅chatter话题上的消息。当有消息发布到这个话题时,ROS 就会调用chatterCallback()函数。第二个参数是队列大小,以防我们处理消息的速度不够快,当缓存达到 1000 条消息后,再有新的消息到来...
subscribe("camera/image", 1, imageCallback); // 创建opencv窗口本地显示 cv::namedWindow("Image", cv::WINDOW_AUTOSIZE); ros::spin(); cv::destroyAllWindows(); return 0; } CMakeLists.txt和package.xml和发布节点基本一样,除了代码文件名不同。 代码语言:sh 复制 # 运行节点 catkin_make # ...
一些版本的subscribe()函数允许我们调用一个类的成员函数,或者甚至可以指定Boost.function对象可调用的任何函数。 循环的最后,加入一句ros::spin();,尽快的调用消息回调。如果没有用到它也不必担心,因为其不会占用太多CPU资源。当ros::ok() 返回false时,ros::spin()将会退出,这意味着ros::shutdown()已经被 Ctrl...
ros::Subscriber sub = n.subscribe("chatter", 1000, &Listener::callback, this); } }; 这样可以调用Class里的回调函数啦。 参考资料 ROS::NodeHandle : http://docs.ros.org/jade/api/roscpp/html/classros_1_1NodeHandle.html#a93b0fe95db250c45fdfbc5fd9f4c0159 ...
ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback); // 循环等待回调函数 ros::spin(); return 0; } 之后依然是在CmakeList.txt文件中添加相应的语句: add_executable(pose_subscriber src/pose_subscriber.cpp) target_link_libraries(pose_subscriber ${catkin_LIBRARIES}) ...
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); // 循环等待回调函数 ros::spin(); return 0; } 2.3 修改CMakeLists.txt文件 在CMakeLists.txt文件内添加: # 参数1:可执行文件名称,参数2:源文件 cpp add_executable(talker src/talker.cpp) ...
#include"ros/ros.h"#include"std_msgs/String.h"voidchatterCallback(conststd_msgs::String::ConstPtr&msg){ROS_INFO("I heard: [%s]",msg->data.c_str());}intmain(intargc,char**argv){ros::init(argc,argv,"listener");ros::NodeHandle n;ros::Subscriber sub=n.subscribe("chatter",1000,chat...
sub = ros.Subscriber(node,topicname) subscribes to a topic with name, TopicName. The node is the ros.Node object handle that this publisher attaches to. sub = ros.Subscriber(node,topicname,msgtype) specifies the message type, MessageType, of the topic. If a topic with the same name ex...