create_publisher(String, 'topic', 10) timer_period = 0.5 # seconds self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 函数timer_callback会创建一条带有累加计数器值的消息,并用get_logger().info函数将其发布到控制台。 def timer_callback(self): msg = String() ...
import rclpy- 导入 ROS2 Python 客户端库。 Node- 创建节点,节点是 ROS2 的基本单位。 create_publisher- 创建一个发布者,类型为String,主题为topic。 create_timer- 每一秒调用一次timer_callback方法,发送消息。 publish(msg)- 发送消息。 第四步:编写订阅节点 接下来,我们将创建一个名为listener.py的节点,...
self.command_publisher2= self.create_publisher(Int32,"command2", 10) self.timer= self.create_timer(0.2, self.timer_callback)#deftimer_callback(self): msg= Int32()#String()self.num+=1msg.data= self.num#str(num)self.command_publisher2.publish(msg) self.get_logger().info(f'发布了指令...
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...
self.timer=self.create_timer(timer_period, self.timer_callback) self.declare_parameter('my_parameter', 'world') 函数timer_callback的第一行从节点获取参数my_parameter,并将其存储在my_param变量中。接着get_logger函数会确保记录日志消息。然后,将参数“ my_parameter”设置回默认字符串值“ world”。
self.publisher = self.create_publisher(Twist, 'turtle2/cmd_vel', 1) # Call on_timer function every second self.timer = self.create_timer(1.0, self.on_timer) def on_timer(self): # Store frame names in variables that will be used to ...
timer = self.create_timer(0.05, self.control_cycle) def scan_callback(self, msg): self.last_scan = msg def control_cycle(self): if self.last_scan is None: return out_vel = Twist() if self.state == self.FORWARD: out_vel.linear.x = self.SPEED_LINEAR if self.check_forward_2_...
ament_python构建的一个示例是ament_index_pythen包,其中的设置。 setup.py是建筑的主要入口点。 demo_nodes_cpp等包使用ament_cmake构建类型,并使用cmake作为构建工具。 为了方便起见,您可以使用工具ros2 pkg create基于模板创建新的包。 设置colcon_cd
“`python import rclpy from rclpy.node import Node class MyNode(Node): def __init__(self): super().__init__(“my_node”) self.publisher_ = self.create_publisher(String, “my_topic”, 10) self.timer_ = self.create_timer(1, self.publish_message) ...
import rclpy from rclpy.node import Node from std_msgs.msg import String class MinimalPublisher(Node): def __init__(self): super().__init__('minimal_publisher') self.publisher_ = self.create_publisher(String, 'topic', 10) timer_period = 0.5 # seconds self.timer = self.create_timer(...