ros2 topic info /joint_states Type: sensor_msgs/msg/JointState Publisher count: 1 Subscription count: 1 接着 ros2 interfaces show sensor_msgs/msg/JointState # This is a message that holds data to describe the state of a set of torque controlled joints. # # The state of each joint (re...
Type: sensor_msgs/msg/JointState Publisher count: 1 Subscription count: 1 接着 ros2 interfaces show sensor_msgs/msg/JointState # This is a message that holds data to describe the state of a set of torque controlled joints. # # The state of each joint (revolute or prismatic) is defined ...
创建一个循环,以“轮询”是否有订阅者(使用get_subscription_count),就像我现在在openni2_camera软件包中所做的那样。 使用参数动态重新配置正在运行的内容。尽管这在某些情况下可能行得通(甚至可能是某些用例的首选解决方案),但它可能导致系统更脆弱。 通过对给定机械手的确切需求进行硬编码,重新构造系统,永远不需要...
importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassMinimalSubscriber(Node):def__init__(self):super().__init__('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...
Subscription count: 1 1. 2. 3. 我们把在topic中传输的数据称为信息(message),message传输需要一定的数据类型,对某一topic发布与订阅均需要使用完全一致的message类型. 回想上面使用ros2 topic list -t命令输出的信息,如:/turtle1/cmd_vel [geometry_msgs/msg/Twist], 中括号内的含义是工作包geometry_msgs有一...
get_subscription_count 获取该出版商的订户数量。 publish 为出版商的主题发送信息。 属性列表: 属性 含义 备注 handle 句柄 topic_name 话题名称 Subscription 1 class rclpy.subscription.Subscription(subscription_handle, msg_type, topic, callback, callback_group, qos_profile, raw, even...
Subscription count: 0 ➜ ros2 topic info /imu/mag Type: sensor_msgs/msg/MagneticField Publisher count: 1 Subscription count: 0 ➜ ros2 service list /imu/calibrate_imu /pibot_driver/describe_parameters ➜ ros2 service type /imu/calibrate_imu ...
(this->get_logger(), "I heard: '%s'", msg->data.c_str()); }// 订阅器指针rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_; };/** 主函数,程序的入口点*/int main(int argc, char * argv[]) {// 初始化ROS2rclcpp::init(argc, argv);// 创建一个Minimal...
if (f.is<rs2::points>()) { if (0 != _pointcloud_publisher->get_subscription_count()) { if(!(_seq[sip] % 2)) { ROS_DEBUG_STREAM("Publishing point cloud on _seq[sip]: " << _seq[sip]); publishPointCloud(f.as<rs2::points>(), t, frameset); } } } Another update: I...
RCLCPP_INFO(this->get_logger(), "I heard: '%d'", msg->num); // CHANGE } rclcpp::Subscription<ars548_interface::msg::Num>::SharedPtr subscription_; // CHANGE }; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); ...