create_publisher(String, 'topic', 10) timer_period = 0.5 # seconds self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 函数timer_callback会创建一条带有累加计数器值的消息,并用get_logger().info函数将其发布到控制台。 def timer_callback(self): msg = String() ...
self.num=0 self.command_publisher2= self.create_publisher(Int32,"command2", 10) self.timer= self.create_timer(0.2, self.timer_callback)#deftimer_callback(self): msg= Int32()#String()self.num+=1msg.data= self.num#str(num)self.command_publisher2.publish(msg) self.get_logger().info(...
// ros::Timer createTimer(ros::Duration period, // const ros::TimerCallback &callback, // bool oneshot = false, // bool autostart = true) const // ros::Timer timer = n.createTimer(ros::Duration(2), huidiao); // 进阶操作,循环一次同时不自动启动,采用手动启动 ros::Timer timer = n...
ros::Timer timer1 = n.createTimer(ros::Duration(0.1), callback1); //timer1每0.1s触发一次callback1函数 ros::Timer timer2 = n.createTimer(ros::Duration(1.0), callback2); //timer2每1.0s触发一次callback2函数 ros::spin(); //千万别忘了spin,只有spin了才能真正去触发回调函数 1. 2. 3...
self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 def timer_callback(self): msg = Num() # CHANGE msg.num = self.i # CHANGE self.publisher_.publish(msg) self.get_logger().info('Publishing: "%d"' % msg.num) # CHANGE ...
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): if self.last_scan is None: return out_vel = Twist() if self.state == self.FORWARD: out_vel.linear.x ...
ros2 pkg create pkg_topic --build-type ament_python --dependencies rclpy --node-name publisher_demo 执行上述命令后,会创建pkg_topic功能包,同时会创建一个publisher_demo的节点,并且已配置好相关的配置文件。 2.2、发布者实现 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 ...
self.publisher = self.create_publisher(Twist, 'turtle2/cmd_vel', 1) # Call on_timer function every second self.timer = self.create_timer(1.0, self.on_timer) def on_timer(self): # Store frame names in variables that will be used to ...
import rclpy from rclpy.node import Node from std_msgs.msg import String class MinimalPublisher(Node): def __init__(self): super().__init__('minimal_publisher') self.publisher_ = self.create_publisher(String, 'topic', 10) timer_period = 0.5 # seconds self.timer = self.create_timer(...
“`python import rclpy from rclpy.node import Node class MyNode(Node): def __init__(self): super().__init__(“my_node”) self.publisher_ = self.create_publisher(String, “my_topic”, 10) self.timer_ = self.create_timer(1, self.publish_message) ...