subscription_ = this->create_subscription<tutorial_interfaces::msg::Num>( // CHANGE "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); } private: void topic_callback(const tutorial_interfaces::msg::Num & msg) const // CHANGE { RCLCPP_INFO_STREAM(this->get_logger(...
importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassListener(Node):def__init__(self):super().__init__('listener')self.subscription=self.create_subscription(String,'topic',self.listener_callback,10)self.subscription# prevent unused variable warningdeflistener_callback(self,msg):self.g...
create_subscription(String, "client_quit", quit, 1) t = threading.Thread(target=run_camera,args=(cap,image_pub)) t.start() rclpy.spin(node) rclpy.shutdown() if __name__ == "__main__": main() 接着是subscriber.py中的代码 #encoding:utf-8 import cv2 import rclpy import time ...
self.subscription = self.create_subscription( Pose, f'/{self.turtlename}/pose', self.handle_turtle_pose, 1) self.subscription def handle_turtle_pose(self, msg): # Initialize the transform broadcaster br = TransformBroadcaster(self) t = TransformStamped() # Read message content and assign it t...
self.subscription = self.create_subscription( Image, topic_name, self.image_callback, 10) def image_callback(self, msg): global current_image cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8") _, buffer = cv2.imencode('.jpg', cv_image) ...
create_subscription( LaserScan, 'input_scan', self.scan_callback, qos_profile_sensor_data) self.vel_pub = self.create_publisher(Twist, 'output_vel', 10) self.timer = self.create_timer(0.05, self.control_cycle) def scan_callback(self, msg): self.last_scan = msg def control_cycle(self...
from std_msgs.msgimportStringclassMinimalSubscriber(Node):def__init__(self):super().__init__('minimal_subscriber')self.subscription=self.create_subscription(String,'topic',self.listener_callback,10)self.subscription # prevent unused variable warning ...
importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassListener(Node):def__init__(self):super().__init__('listener')self.subscription=self.create_subscription(String,'chatter',self.listener_callback,10)deflistener_callback(self,msg):self.get_logger().info('I heard: "%s"'%msg.da...
self.sub = self.create_subscription(String, "/topic_demo", self.sub_callback, 1) # 回调函数 def sub_callback(self, msg): print("recv:" + msg.data) def main(): rclpy.init() subscriber_demo = Topic_Subscriber("subscriber_node") rclpy.spin(subscriber_demo) subscriber_demo.destroy_nod...
但是有些情况也例外,如果C++包里想同时增加Python也是支持的。步骤也多一些 步骤: 新建包my_cpp_py_pkg cd ~/dev_ws/src ros2 pkg create my_cpp_py_pkg --build-type ament_cmake 内容如下: my_cpp_py_pkg/ ├── CMakeLists.txt ├── include ...