timer_ = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&ExampleInterfacesRobot::timer_callback, this)); } private: Robot robot; /*实例化机器人*/ rclcpp::TimerBase::SharedPtr timer_; /*定时器,用于定时发布机器人位置*/ rclcpp::Service<example_ros2_interfaces::srv::Mo...
timer_ = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&ExampleInterfacesRobot::timer_callback, this)); } private: Robot robot; /*实例化机器人*/ rclcpp::TimerBase::SharedPtr timer_; /*定时器,用于定时发布机器人位置*/ rclcpp::Service<example_ros2_interfaces::srv::Mo...
publisher_ =this->create_publisher<std_msgs::msg::String>("topic",10); timer_ =this->create_wall_timer(500ms, std::bind(&MinimalPublisher::timer_callback,this)); }private:voidtimer_callback(){automessage = std_msgs::msg::String(); message.data ="Hello, world! "+ std::to_string(...
* member function as a callback from the timer. */ class MinimalPublisher : public rclcpp::Node { public: MinimalPublisher() : Node("minimal_publisher"), count_(0) { publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10); timer_ = this->create_wall_timer( 500ms,...
创建example_action_rclcpp功能包,添加robot_control_interfaces、rclcpp_action、rclcpp三个依赖,自动创建action_robot_01节点,并手动创建action_control_01.cpp节点。 cd chapt4_ws/ ros2 pkg create example_action_rclcpp --build-type ament_cmake --dependencies rclcpp rclcpp_action robot_control_interfaces --...
timer_ = this ->create_wall_timer(500ms, std::bind(&Publisher::timer_callback, this)); } private: void timer_callback(){ auto message = std_msgs::msg::String(); message.data = "Hello World! " + std::to_string(count_++); ...
this->client_ptr_ = rclcpp_action::create_client( this->get_node_base_interface(), this->get_node_graph_interface(), this->get_node_logging_interface(), this->get_node_waitables_interface(), "fibonacci"); this->timer_ = this->create_wall_timer( ...
接下来,初始化timer_,这将导致timer_callback函数每秒执行两次。 public: MinimalPublisher() : Node("minimal_publisher"), count_(0) { publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10); timer_ = this->create_wall_timer( ...
timer_ = this->create_wall_timer(500ms, timer_callback); } private: rclcpp::TimerBase::SharedPtr timer_; rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; size_t count_; }; class DualThreadedNode : public rclcpp::Node ...
// Use a timer to schedule periodic message publishing.timer_ = create_wall_timer(1s,std::bind(&Talker::on_timer,this));} voidTalker::on_timer(){automsg =std::make_unique<std_msgs::msg::String>();msg->data ="Hello World: "+std::to_string(...