Example:ros2("msg","show","sensor_msgs/LaserScan") Command syntax: Example:ros2 msg show sensor_msgs/LaserScan Data Types:char|string svcname—Service name string scalar|character vector Service name, specified as a string or character vector. The string is case-sensitive and no partial matche...
When you are replacing the definitions of a built-in message package, you must ensure that the custom message package folder contains new definitions (.msg files) for all the message types in the corresponding built-in message package. Create Shareable ROS 2 Custom Message Package Copy Code ...
subscription_ = this->create_subscription<std_msgs::msg::String>( "topic", 10, callback, options); } private: void topic_callback(const std_msgs::msg::String::SharedPtr msg) const { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); } rclcpp::Subscription<...
:_1)); } private: // 声明一个订阅者 rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscribe_and_publish_subscribe_; // 收到话题数据的回调函数 void command_callback(const std_msgs::msg::String::SharedPtr msg) { RCLCPP_INFO(this->get_logger(), "收到[%s]指令", msg->data...
// ShmTopic.msg char[256] data uint8 size uint64 counter uint8 MAX_SIZE=255 基础教程:Implementing custom interfaces — ROS 2 Documentation: Galactic documentation 编译后会生成类似以下的头文件: class ShmTopic { public: std::array<uint8_t, 256> data; uint8_t size; uint64_t counter; st...
auto msg = std::make_unique<std_msgs::msg::String>(); msg->data = "Hello World: " + std::to_string(++count_); RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg->data.c_str()); std::flush(std::cout); // Put the message into a queue to be processed by the midd...
在ROS中,.msg和.srv文件可以具有相同的名称,但生成的代码会发生冲突。服务的请求和响应部分也是如此。 在ROS 2中,生成的代码使用单独的命名空间来保证它是无冲突的。 In ROS 1 .msg and .srv files can have the same name but the generated code collides. The same is the case for the request and re...
public rclcpp::Node { private: size_t count_; rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_; public: explicit ComponentDemoSub(const rclcpp::NodeOptions & options); ~ComponentDemoSub() = default; protected: void on_sub(std_msgs::msg::String::UniquePtr &msg); }; } #end...
auto msg = std::make_unique<std_msgs::msg::String>(); msg->data = "Lifecycle HelloWorld #" + std::to_string(++count); if (!pub_->is_activated()) { RCLCPP_INFO( get_logger(), "Lifecycle publisher is currently inactive. Messages are not published."); ...
ros2 topic pub <topic_name> <msg_type> '<args>' 参数是您将传递给主题的实际数据,位于您在上一节中刚刚发现的结构中。 需要注意的是,这个参数需要以YAML语法输入。 像这样输入完整命令: ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}...