pose_sub = this->create_subscription<turtlesim::msg::Pose>("/turtle1/pose",10,std::bind(&ExeNavActionServer::poseCallBack, this, std::placeholders::_1)); // 3-2.创建原生乌龟速度发布方; cmd_vel_pub = this->create_publisher<geometry_msgs::msg::Twist>("/turtle1/cmd_vel",10); //...
self.create_publisher(String,"sexy_girl", 10) 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 String ...
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.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...
pid_output_pub_[i] = this->create_publisher<std_msgs::msg::Int32>(output_topic_name[i], 10); } } } void BaseDriver::update_pid_debug() { if (config_.out_pid_debug_enable) { frame_->interact(ID_GET_PID_DATA); for (size_t i = 0; i < MAX_MOTOR_COUNT; i++) { ...
play_panel.cpp:26:25: error: no matching member function for call to 'create_subscription' node_impl.hpp:91:7: note: candidate template ignored: substitution failure [with MessageT = sensor_msgs::msg::PointCloud2_<std::allocator<void> >, CallbackT = std::_Bind<void (LidarViewRos2::...
在ROS2(Robot Operating System 2)中,"create publisher"指的是创建一个发布者节点,用于将消息发布到ROS2通信系统中的特定主题。发布者节点可以使用ROS2提供的分配器(allocator)来管理内存分配和释放。 分配器是一种用于分配和管理内存的机制。在ROS2中,分配器负责为消息分配所需的内存,并在消息不再需要时释放内存...
auto publisher = node->create_publisher<std_msgs::msg::UInt32>("allocator_example", 10, alloc); auto msg_mem_strat = std::make_shared<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::UInt32, MyAllocator<>>>(alloc); ...
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...