ros2 create_subscription是一个命令行工具,用于创建一个订阅节点,该节点可以订阅一个指定的ROS2话题,并在接收到消息时执行指定的回调函数。 使用ros2 create_subscription命令,开发者可以快速创建一个订阅节点,从而接收其他节点发布的消息。这个命令的基本语法如下: bash ros2 create_subscription [OPTIONS] PACKAGE_...
subscription_ = this->create_subscription<std_msgs::msg::String>("topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); } private: // 3-2.处理订阅到的消息; void topic_callback(const std_msgs::msg::String & msg) const { RCLCPP_INFO(this->get_logger(), "订阅的...
两个create_subscription调用出错 currTimeSub_=nh_->create_subscription<std_msgs::msg::String>("/pixel/lv/current_time",10,std::bind(&TeleopPanel::CurrTimeSub,this,std::placeholders::_1));selectPtSub_=nh_->create_subscription<sensor_msgs::msg::PointCloud2>("/rviz_selected_points",10,std...
self.subscribe = self.create_subscription(Odometry,"odom",self.callback,qos_profile) File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1370, in create_subscription subscription_object = _rclpy.Subscription( rclpy._rclpy_pybind11.RCLError: Failed to create subscription...
subscription_ = this->create_subscription<std_msgs::msg::String>( "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); } private: void topic_callback(const std_msgs::msg::String::SharedPtr msg) const { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->...
两个create_subscription调用出错 currTimeSub_=nh_->create_subscription<std_msgs::msg::String>("/pixel/lv/current_time",10,std::bind(&TeleopPanel::CurrTimeSub,this,std::placeholders::_1));selectPtSub_=nh_->create_subscription<sensor_msgs::msg::PointCloud2>("/rviz_selected_points",10,std...
().string_value self.tf_broadcaster = TransformBroadcaster(self) # 创建一个TF坐标变换的广播对象并初始化 self.subscription = self.create_subscription( # 创建一个订阅者,订阅海龟的位置消息 Pose, f'/{self.turtlename}/pose', # 使用...
self.subscription = self.create_subscription( String, 'topic', self.listener_callback, 10) 订阅者的代码整体流程和发布者类似,现在的节点名叫minimal_subscriber,构造函数中创建了订阅者,订阅String消息,订阅的话题名叫做“topic”,保存消息的队列长度是10,当订阅到数据时,会进入回调函数topic_callback。
C++中函数指针的用途非常广泛，例如回调函数，接口类的设计等，但函数指针始终不太灵活，它只能指向全局或...
('minimal_subscriber')# 订阅者的构造函数和回调函数不需要定时器Timer,因为当收到Message时,就已经启动回调函数了# 注意此处不是subscriber,而是subscription# 数据类型,话题名,回调函数名,队列长度self.subscription =self.create_subscription(String,'topic_name',self.listener_callback,10)self.subscription# ...