在 Python 中,可以使用 ROS2 的相关库来订阅激光雷达话题,获取点云数据。例如: import rclpy from rclpy.node import Node from sensor_msgs.msg import LaserScan class LidarSubscriber(Node): def __init__(self): super().__init__('lidar_su
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 1. 2. 3. 4. 5. 6. 5. 定义回调函数 当接收到消息时,将调用以下回调函数: def...
用您喜欢的文本编辑器打开subscriber_member_function.py,该文件中的python代码如下: import rclpy from rclpy.node import Node from std_msgs.msg import String class MinimalSubscriber(Node): def __init__(self): super().__init__('minimal_subscriber') self.subscription = self.create_subscription( Stri...
ros2 pkg create learning_tf2 --build-type ament_python --dependencies rclpy tf2 tf2_ros turtlesim 这样在该src目录下就会生成一个新的learning_tf2文件夹,其目录结构如下图所示: 4.2 编写tf2广播者节点的python代码 本教程会讲解如何将坐标系广播到tf2。本示例中希望广播小乌龟在移动时不断变化的坐标系。 首...
self.sub = self.create_subscription(String, 'chatter', self.chatter_callback) def chatter_callback(self, msg): # 将收到的消息数据打印出来 self.get_logger().info('I heard: [%s]' % msg.data) def main(args=None): # ROS节点初始化 ...
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...
subscription_ = this->create_subscription<turtlesim::msg::Pose>( topic_name, 10, std::bind(&FramePublisher::handle_turtle_pose, this, _1)); } private: void handle_turtle_pose(const std::shared_ptr<turtlesim::msg::Pose> msg) {
{ scan_sub_ = create_subscription<sensor_msgs::msg::LaserScan>( "input_scan", rclcpp::SensorDataQoS(), std::bind(&ObstacleDetectorNode::scan_callback, this, _1)); tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*this); } void ObstacleDetectorNode::scan_callba...
//或者my_sub_ =this->create_subscription(localization_topic,1,[this](constnav_msgs::msg::Odometry::ConstPtr msg){localizationCallback(msg)};//---/create_subscription---//callback functionvoidLocalizationSwitchboard::localizationCallback(constnav_msgs::msg::...
ros2 pkg create --build-type ament_python py_pub_sub 2.新建源码文件 在py_pub_sub功能包的py_pub_sub文件夹下新建源码文件publisher_member_function.py touchpublisher_member_function.py 3.编写源码 ros2中提供的消息接口可以通过以下命令来查看 ...