在ros1中可以使用下面的程序,来获取一条指定话题的数据消息 msg = rospy.wait_for_message('话题名字',话题类型) 1. 该函数实现原理为:创建一个订阅,接收一条消息,取消订阅 https://docs.ros.org/en/diamondback/api/rospy/html/rospy.client-module.html#wait_for_message 照着这个原理,...
Support None for no timeout in line with rospy.wait_for_message In our tests we use the wait_for_message and wait_for_topic functions a lot. And having different syntax for both is inconvenient. Alternative implementation: I can also rewrite to have None
rospy.wait_for_message('initialpose', PoseWithCovarianceStamped) self.last_location = Pose() rospy.Subscriber('initialpose', PoseWithCovarianceStamped, self.update_initial_pose) # Make sure we have the initial pose # 确保有初始位置 while initial_pose.header.stamp == "": rospy.sleep(1) rospy...
joint_states = rospy.wait_for_message("joint_states",JointState) joints_pos = joint_states.position #给trajectory中的第二个成员points赋值 #points中有四个变量,positions,velocities,accelerations,effort,我们给前三个中的全部或者其中一两个赋值就行了 goal.trajectory.points=[0]*4 goal.trajectory.points...
Message wait_for_message(topic,topic_type,time_out=None) 等待某个 topic 的 message spin() 触发topic 或 service 的回调/处理函数,会阻塞后边的程序直到关闭节点 Publisher 类 返回值方法作用 init(self,name,data_class,queue_size=None) 构造函数 publish(self, msg) 发布消息 str unregister(self) 停止...
def wait_for_connections(pub, topic): ros_master = rosgraph.Master('/rostopic') topic = rosgraph.names.script_resolve_name('rostopic', topic) num_subs = 0 for sub in ros_master.getSystemState()[1]: if sub[0] == topic:
wait_for_service('add_two_ints') # 阻塞等待 try: add_two_ints = rospy.ServiceProxy( 'add_two_ints', AddTwoints) # Create a handle to a ROS service for invoking calls. resp1 = add_two_ints(x, y) return resp1.sum except rospy.ServiceException as e: print("Service call ...
rospy.wait_for_service('/go_to_point_switch')rospy.wait_for_service('/wall_follower_switch')rospy.wait_for_service('/gazebo/set_model_state') srv_client_go_to_point_ = rospy.ServiceProxy('/go_to_point_switch', SetBool)srv_client_wall_follower_...
uuid = rlutil.get_or_generate_uuid(options.run_id, options.wait_for_master) configure_logging(uuid) # #3088: don't check disk usage on remote machines if not options.child_name and not options.skip_log_check: rlutil.check_log_disk_usage() ...
(arg database_path)"/> <!-- inputs --> <remap from="scan" to="/scan"/> <remap from="rgb/image" to="$(arg rgb_topic)"/> <remap from="depth/image" to="$(arg depth_topic)"/> <remap from="rgb/camera_info" to...