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<Student>("topic_stu", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); } private: // 3-2.处理订阅到的消息; void topic_callback(const Student & msg) const { RCLCPP_INFO(this->get_logger(), "订阅的学生消息:name=%s,age=%d,heig...
1.2 创建功能包 ros2 pkg create --build-type ament_cmake cpp_pubsub --dependencies rclpy #创建c++包 ros2 pkg create --build-type py_pub_sub python_pubsub --dependencies rclpy #创建python包 going to create a new package package name: cpp_pubsub destination directory: /home/honor/dev_ws/...
RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); } rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;}; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::spin(std::make_shared<MinimalSubscriber>()); rclcpp::shutdo...
subscription_=this->create_subscription<std_msgs::msg::String>( "topic", 10, callback, options); } private: voidtopic_callback(conststd_msgs::msg::String::SharedPtr msg)const { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); ...
该类中唯一的字段声明是subscription_。 private: void topic_callback(const std_msgs::msg::String::SharedPtr msg) const { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); } rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_; ...
// Create a subscription on the input topic. sub = this->create_subscription<std_msgs::msg::Int32>( in, 10, [captured_pub](std_msgs::msg::Int32::UniquePtr msg) { auto pub_ptr = captured_pub.lock(); if (!pub_ptr) {
ros2 pkg create --build-type ament_cmake cpp_pubsub 终端将返回一条消息,验证cpp_pubsub包及其所有必要的文件和文件夹的创建。 导航到dev_ws/src/cpp_pubsub/src中,这就是包含可执行文件的源文件所在的目录。 2.编写一个发布节点 首先,通过以下命令下载示例talker代码(在src目录下): ...
subscription_ = this->create_subscription<ars548_interface::msg::Num>( // CHANGE "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); } private: void topic_callback(const ars548_interface::msg::Num::SharedPtr msg) const // CHANGE ...
topic_callback, this, _1));// }// private:// void topic_callback(const std_msgs::msg::String & msg) const// {// RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str());// }// rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;public:...