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_...
{ // 构造函数中,直接给定节点名称为 sys_status_display subscription_ = this->create_subscription<SystemStatus>( "sys_status", 10, // 调用 create_subscription 对 subscription_ 初始化 [&](const SystemStatus::SharedPtr msg) -> void { // Lambda 表达式作为回调函数(参数列表的 & 符,表示可以...
pose_sub = this->create_subscription<turtlesim::msg::Pose>("/turtle1/pose",10,std::bind(&ExeDistanceServer::poseCallBack, this, std::placeholders::_1)); // 3-2.创建服务端; distance_server = this->create_service("distance",std::bind(&ExeDistanceServer::distanceCallBack, this, std::...
ros2 pkg create --build-type ament_python py_srvcli --dependencies rclpy example_interfaces 1. 参数--dependencies自动将发要的依赖添加到package.xml,example_interfaces是包含AddTwoInts.srv的package。 其数据结构: int64 a int64 b --- int64 sum 1. 2. 3. 4. 前两行是请求参数,虚线下面的是响应...
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 ...
importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassListener(Node):def__init__(self):super().__init__('listener')self.subscription=self.create_subscription(String,'chatter',self.listener_callback,10)deflistener_callback(self,msg):self.get_logger().info('I heard: "%s"'%msg.da...
两个create_subscription调用出错currTimeSub_ = nh_->create_subscription<std_msgs::msg::String>("/pixel/lv/current_time", 10, std::bind(&TeleopPanel::CurrTimeSub, this, std::placeholders::_1)); selectPtSub_ = nh_->create_subscription<sensor_msgs::msg::PointCloud2>("/rviz_selected_...
self.subscribe = self.create_subscription(Odometry,"odom",self.callback,qos_profile) self.path = "/home/cxw" self.file = self.path + "/ground_truth_odom" + '.txt' self.writter = open(self.file,'w') def callback(self,msg):
从订阅器获取消息需要通过option参数实现，option是create_subscription函数的第四个参数。其中的topic_state_options可以用来设置统计topic，它提供三个子选项：运行这个subscriber，就会发现多了一个/statistic节点，使用ros2 topic echo进行查看：这里window_start到window_stop是10ms，和周期一致，在这个滑动...
subscription1_ = this->create_subscription<std_msgs::msg::String>( "topic", rclcpp::QoS(10), // std::bind is sort of C++'s way of passing a function // If you're used to function-passing, skip these comments std::bind(