* 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...
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...
c_str()); } int main(int argc, char **argv) { // 初始化ROS节点 ros::init(argc, argv, "listener_demo"); // 创建节点句柄 ros::NodeHandle handle; // 创建一个Subscriber,订阅名为chatter的topic,注册回调函数chatterCallback ros::Subscriber sub = handle.subscribe( "talker_demo", 1000, ...
c_str() << std::endl; } int main(int argc, char **argv) { std::cout << "Hello, ROS2 Sub!" << std::endl; rclcpp::init(argc, argv); auto node = rclcpp::Node::make_shared("sub_node"); auto sub = node->create_subscription<std_msgs::msg::String>("/pub", 1, callback...
(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);...
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 ...
使用CMake作为构建系统,即使是Python节点也必须使用它。 这是为了确保创建消息和服务的自动生成的Python代码。 转到catkin工作区并运行catkin_make: $ cd ~/catkin_ws $ catkin_make 1. 2. 测试Publisher和Subscriber (Python) $ roscore 1. 新开一个终端: ...
marker.color.r=0.0f;marker.color.g=1.0f;marker.color.b=0.0f;marker.color.a=1.0;marker.lifetime=ros::Duration();// Publish the markerwhile(marker_pub.getNumSubscribers()<1){if(!ros::ok()){return0;}ROS_WARN_ONCE("Please create a subscriber to the marker");sleep(1);}marker_pub....
msg->name.c_str(), msg->age, msg->sex); } int main(int argc, char **argv) { // 初始化ROS节点 ros::init(argc, argv, "person_subscriber"); // 创建节点句柄 ros::NodeHandle n; // 创建一个Subscriber,订阅名为/person_info的topic,注册回调函数personInfoCallback ...
sub = rossubscriber(topicname) sub = rossubscriber(topicname,msgtype) sub = rossubscriber(topicname,callback) sub = rossubscriber(topicname, msgtype,callback) sub = rossubscriber(___,Name,Value) sub = rossubscriber(___,"DataFormat","struct") sub = ros.Subscriber(node,topicname) sub =...