node.create_subscription(Image,'image_data', node.callback, 10) # 接收话题image_data2中的图像数据,并可视化 node.create_subscription(Image,'image_data2', node.callback2, 10) rclpy.spin(node) rclpy.shutdown() 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17....
importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassListener(Node):def__init__(self):super().__init__('listener')self.subscription=self.create_subscription(String,'topic',self.listener_callback,10)self.subscription# prevent unused variable warningdeflistener_callback(self,msg):self.g...
super().__init__('minimal_subscriber') self.subscription = self.create_subscription( String, 'topic', self.listener_callback, 10) self.subscription # prevent unused variable warning def listener_callback(self, msg): self.get_logger().info('I heard: "%s"' % msg.data) def main(args=Non...
self.sub = self.create_subscription(String, 'chatter', self.chatter_callback) def chatter_callback(self, msg): # 将收到的消息数据打印出来 self.get_logger().info('I heard: [%s]' % msg.data) def main(args=None): # ROS节点初始化 rclpy.init(args=args) # 创建节点及订阅器 node = Li...
, name.c_str()); // 创建一个订阅者订阅话题 subscribe_and_publish_subscribe_ = this->create_subscription<std_msgs::msg::String>("subscribe_and_publish", 10, std::bind(&Subscribe::command_callback, this, std::placeholders::_1)); } private: // 声明一个订阅者 rclcpp::Subscription<std...
subscription_ = this->create_subscription<turtlesim::msg::Pose>( topic_name, 10, std::bind(&FramePublisher::handle_turtle_pose, this, _1)); } private: void handle_turtle_pose(const std::shared_ptr<turtlesim::msg::Pose> msg) {
self.sub = self.create_subscription(String, "/topic_demo", self.sub_callback, 1) # 回调函数 def sub_callback(self, msg): print("recv:" + msg.data) def main(): rclpy.init() subscriber_demo = Topic_Subscriber("subscriber_node") rclpy.spin(subscriber_demo) subscriber_demo.destroy_nod...
但是有些情况也例外,如果C++包里想同时增加Python也是支持的。步骤也多一些 步骤: 新建包my_cpp_py_pkg cd ~/dev_ws/src ros2 pkg create my_cpp_py_pkg --build-type ament_cmake 内容如下: my_cpp_py_pkg/ ├── CMakeLists.txt ├── include ...
在类构造函数中创建publisher/subscriber,在create_subscription中使用std::bind或者lambda表达式构造调用对象Callback,当然是用ROS1的方式也可以编写简单的ROS1程序,只是ROS2已经趋向推荐面向对象编程了。 my_pub_ =this->create_publisher<std_msgs::msg::String>("/localization...
('minimal_subscriber')# 订阅者的构造函数和回调函数不需要定时器Timer,因为当收到Message时,就已经启动回调函数了# 注意此处不是subscriber,而是subscription# 数据类型,话题名,回调函数名,队列长度self.subscription =self.create_subscription(String,'topic_name',self.listener_callback,10)self.subscription# ...