发现了一片非常好的博客,讲述ROS中发布器publisher和订阅器subscriber的原理与使用,附代码实现。 转自Ros学习——C++发布器publisher和订阅器subscriber - 寒江小筑 - 博客园 (cnblogs.com) 1.编写发布器 初始化 ROS 系统 在ROS 网络内广播我们将要在 chatter 话题上发布 std_msgs/String 类型的消息 以每秒 10 次...
m_turtlesimSubscriber = m_nodeHandle.subscribe("/turtle1/pose",10, &MyLittleTurtle::updateTurtleStatus,this); ROS_INFO("Waiting for turtlesim..."); ros::RateloopRate(10);while(ros::ok() && (m_turtlesimPublisher.getNumSubscribers() <=0|| m_turtlesimSubscriber.getNumPublishers() <=0)) ...
* is subscribing. Messages are passed to a callback function, here * called chatterCallback. subscribe() returns a Subscriber object that you * must hold on to until you want to unsubscribe. When all copies of the Subscriber * object go out of scope, this callback will automatically be u...
ros::init(argc,argv,"pose_subscriber"); // 创建节点句柄 ros::NodeHandlen; // 创建一个Subscriber,订阅名为/turtle1/pose的topic,注册回调函数poseCallback ros::Subscriberpose_sub=n.subscribe("/turtle1/pose",10,poseCallback); // 循环等待回调函数 ros::spin(); return0; } 1. 2. 3. 4. ...
配置环境:这步可以直接省略;直接用rosrun learning_topic pose_subscriber.py 配置一下CMakeLists.txt中的编译规则: 之前已将文件中的catkin_install_python这段取消注释,并将默认的my_python_script改成了velocity_publisher.py。 这次再加上一个关于pose_subscriber.py的catkin_install_python方法 ...
本文通过两种方式编译,一种是直接使用CMake,另一种是catkin_make 两种方式任选一种 #3 CMake编译 来源官方文档:传送门,点我点我 #3.1 开始 创建目录,用于存放Publisher 和 Subscriber代码 代码语言:javascript 复制 mkdir-p pubsub cd pubsub 编写c++ demo代码 ...
(conststd_msgs::String::ConstPtr &msg)5{6ROS_INFO("Hello test1_a! I am test1_b. I heard:[%s]",msg->data.c_str());7}89intmain(intargc,char**argv)10{11ros::init(argc,argv,"test1_b");12ros::NodeHandle n;13ros::Subscriber sub = n.subscribe("message",1000,chatterCallback);...
{//同上ros::init(argc,argv,"listener");//同上ros::NodeHandle n;//前两个参数类似Publisher, 最后一个参数表示, 收到message后, 被调用的函数ros::Subscriber sub=n.subscribe("chatter",1000,chatterCallback);//ros::spin()进入循环, 调用回调函数. 它在遇到 Ctrl-C 或 master 关闭此节点时退出.ros...
("Listener: Distance to origin = %f, state: %s",distance.data,msg->state.c_str());}intmain(intargc,char**argv){ros::init(argc,argv,"listener");ros::NodeHandlen;// 设置回调函数gpsCallbackros::Subscribersub=n.subscribe("gps_info",1,gpsCallback);// ros::spin()用于调用所有可触发的...
Clear the publisher, subscriber, and ROS node. Shut down the ROS master. clear('pub','sub','node') clear('master') Extended Capabilities C/C++ Code Generation Generate C and C++ code using MATLAB® Coder™. Version History Introduced in R2019b ...