然后,创建订阅者,并指定消息类型和主题名称: self.subscription=self.create_subscription(# 创建订阅者String,# 消息类型'topic_name',# 消息主题self.listener_callback,# 回调函数10)# 队列大小self.subscription# 订阅者实例 5. 定义回调函数 当接收到消息时,将调用以下回调函数: deflistener_callback(self,msg)...
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...
super().__init__('minimal_subscriber') self.subscription = self.create_subscription( Num, # CHANGE 'topic', self.listener_callback, 10) self.subscription def listener_callback(self, msg): self.get_logger().info('I heard: "%d"' % msg.num) # CHANGE def main(args=None): rclpy.init(...
self.timer = self.create_timer(timer_period, self.timer_callback) #启动一个定时装置,每 1 s,调用一次time_callback函数 # 账户钱的数量 self.account = 80 # 创建并初始化订阅者成员属性submoney self.submoney = self.create_subscription(UInt32,"sexy_girl_money",self.recv_money_callback,10) def...
create_subscription( LaserScan, 'input_scan', self.scan_callback, qos_profile_sensor_data) self.vel_pub = self.create_publisher(Twist, 'output_vel', 10) self.timer = self.create_timer(0.05, self.control_cycle) def scan_callback(self, msg): self.last_scan = msg def control_cycle(self...
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 ...
Subscription 1 class rclpy.subscription.Subscription(subscription_handle, msg_type, topic, callback, callback_group, qos_profile, raw, event_callbacks) 为ROS 订阅创建一个容器。 注意: 用户不应使用此构造函数创建订阅,而应调用 Node.create_subscription()。 方法列表: 方法 含义 备注 destroy 销毁订阅者...
('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# ...
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...