int main(int argc, char **argv) { ros::init(argc, argv, "minimal_publisher"); // 初始化节点名 ros::NodeHandle n; // ros::Publisher my_publisher_object = n.advertise<std_msgs::Float64>("topic1", 1); // 创建一个发布器,调用advertise通知ROS Master话题名称以及话题类型 //"topic1" ...
函数create_publisher声明节点在名为topic的话题上发布String类型(从std_msgs.msg模块导入)的消息,并且指定“队列大小”为10。队列大小是必需的QoS(服务质量)设置,该设置限制了排队消息的数量(如果某个订阅者没有足够快地接收这些消息的话)。 接下来,创建一个具有回调函数的计时器,每0.5秒执行一次回调。self.i是回调...
command_publisher_ = this->create_publisher<std_msgs::msg::String>("command", 10); // 创建定时器,500ms为周期,定时发布 timer_ = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&TopicPublisher01::timer_callback, this)); } private: void timer_callback() { // 创建...
: Node("minimal_publisher"), count_(0) { publisher_ =this->create_publisher<std_msgs::msg::String>("topic",10); timer_ =this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback,this)); } timer_callback函数是设置消息数据和实际发布消息的地方。RCLCPP_INFO宏确保将每个...
: Node("minimal_publisher"), count_(0) { publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10); timer_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback, this)); } private:
依次输入下面的命令,创建chapt3_ws工作空间、example_topic_rclcpp功能包和topic_publisher_01.cpp。 cd d2lros2/ mkdir -p chapt3/chapt3_ws/src cd chapt3/chapt3_ws/src ros2 pkg create example_topic_rclcpp --build-type ament_cmake --dependencies rclcpp ...
node.create_subscription(CompressedImage,"image_data", callback,10) pub = node.create_publisher(String,"client_quit",1) rclpy.spin(node) rclpy.shutdown() if __name__ =="__main__":main() 使用线程的方式启动摄像头的捕获,再利用rclpy.spin及rclpy.shutdown让其在主循环中运行从而接收消息。
the number here specifies how many messages to* buffer up before throwing some away.*/ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);ros::Rate loop_rate(10);/*** A count of how many messages we have sent. This is used to create* a unique string for ...
0. rqt_graph 显示当前所有节点的关系 1. Create Publisher talker.cpp: 2. Create Subscriber listener...
在写应用程序时,我们需要调用node节点的create_publisher方法创建一个特定消息的发布端,类似这样 pub = node->create_publisher<MsgT>("chatter", 10); // implicitly KeepLast 该方法实现在src/ros2/rclcpp/rclcpp/include/rclcpp/node_impl.hpp中 template<typenameMessageT,typenameAllocatorT,typenamePublisherT>st...