create_wall_timer()函数用于创建一个定时器,该定时器会在固定的时间间隔period之后触发,执行一个用户定义的回调函数callback。这个定时器与系统的实时时钟(wall clock)同步,即使系统时间发生改变,它也会按照设定的时间间隔触发回调。 创建客户端和服务 创建服务客户端和服务端,用于提供和消费服务 创建客户端 create_c...
打开package.xml文件,添加: <buildtool_depend>rosidl_default_generators</buildtool_depend><exec_depend>rosidl_default_runtime</exec_depend><member_of_group>rosidl_interface_packages</member_of_group> 注意:在编译时,需要rosidl_default_generators,而在运行时,只需要rosidl_default_runtime。 打开CMakeLists...
打开package.xml文件,添加: <buildtool_depend>rosidl_default_generators</buildtool_depend><exec_depend>rosidl_default_runtime</exec_depend><member_of_group>rosidl_interface_packages</member_of_group> 1. 2. 3. 4. 5. 注意:在编译时,需要rosidl_default_generators,而在运行时,只需要rosidl_default_ru...
实例化一个ROS定时器,它将启动对send_goal的唯一调用: this->timer_ = this->create_wall_timer( std::chrono::milliseconds(500), std::bind(&FibonacciActionClient::send_goal, this)); 1. 2. 3. 当计时器到期时,它将调用send_goal: void send_goal() { using namespace std::placeholders; this-...
timer_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback, this)); } private: void timer_callback() { auto message = ars548_interface::msg::Num(); // CHANGE message.num = this->count_++; // CHANGE ...
publisher_ = this->create_publisher<tutorial_interfaces::msg::Num>("topic", 10); // CHANGE timer_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback, this)); } private: void timer_callback() { auto message = tutorial_interfaces::msg::Num(); // CHANGE ...
classHelloWorldClassNode:publicrclcpp::Node{public:HelloWorldClassNode() : Node("node_helloworld_class") {timer_ = create_wall_timer(std::chrono::milliseconds(500),[this]() {RCLCPP_INFO(get_logger(),"Hello World");});} private:rclcpp...
timer_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback, this)); } timer_callback函数是设置消息数据和实际发布消息的地方。 RCLCPP_INFO宏确保将每个发布的消息打印到控制台。 private: void timer_callback()
timer_ = this->create_wall_timer( 1s, std::bind(&ManagedScan::publish, this)); RCLCPP_INFO(get_logger(), "on_configure() is called."); return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; }
timer_ = this->create_wall_timer(1s, callback); } rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub_; rclcpp::TimerBase::SharedPtr timer_; }; // Node that consumes messages. struct Consumer : public rclcpp::Node { Consumer(const std::string & name, const std::string & inpu...