Publishers需要2到3个参数:topic type、topic name、queue size. minimal_publisher代码如下: #include <ros/ros.h> #include <std_msgs/Float64.h> int main(int argc, char **argv) { ros::init(argc, argv, "minimal_publisher"); ros::NodeHandle n; ros::Publisher my_publisher_object = n.adverti...
self.create_publisher(String,"sexy_girl", 10) 1. 小鱼这里使用create_publisher方法来创建的发布者,该方法一共有三个参数,第一个是方法类型,第二个是话题名称,第三个是消息队列长度,第一个参数我们这里添了String,需要注意的是,这里的String并非Python自带的字符串类型,我们使用 from std_msgs.msg import Stri...
/*创建move_robot服务*/ move_robot_server_ = this->create_service<example_ros2_interfaces::srv::MoveRobot>( "move_robot", std::bind(&ExampleInterfacesRobot::handle_move_robot, this, std::placeholders::_1, std::placeholders::_2)); /*创建发布者*/ robot_status_publisher_ = this->create...
self.command_publisher1 = self.create_publisher(Int32,"command1", 10) self.timer = self.create_timer(0.4, self.timer_callback) # # self.inputdata1() def inputdata1(self): msg = Int32() #String() period=0.5 print("publisher1-周期",period) self.get_logger().info(f'发布了指令:{m...
classMinimalPublisher(Node): 接着是该类的构造函数定义。函数super().__ init__调用Node类的构造函数,并指定节点名称,本例中节点名称为minimal_publisher。 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)...
: 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。
detections_cloud_pub = node->create_publisher<sensor_msgs::msg::PointCloud2>("/ars548_process/detection_point_cloud", 10); // ros::spin(); // 循环等待ROS2退出 rclcpp::spin(node); // 关闭ROS2 C++接口 rclcpp::shutdown(); }
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>std::shared_ptr<PublisherT>Node::create_publisher(...){returnrclcpp::create_publisher<Messa...
auto publisher = node->create_publisher<std_msgs::msg::String>("my_topic", 10); // 创建发布者,指定消息类型和话题名称 std_msgs::msg::String message; message.data = "Hello, ROS2!"; publisher->publish(message); // 发布消息 rclcpp::shutdown(); return 0; } ``` 3. 订阅者(Subscriber...