importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassListener(Node):def__init__(self):super().__init__('listener')self.subscription=self.create_subscription(String,'topic',self.listener_callback,10)self.subscription# prevent unused variable warningdeflistener_callback(self,msg):self.g...
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 --build-type ament_python --license Apache-2.0 py_pubsub 1. 你的终端将会返回信息以证明py_pubsub包的创建以及必要文件和文件夹创建成功。 2 Write the publisher node (编写发布者节点) cd进入ros2_ws/src/py_pubsub/py_pubsub,请回忆一下这个目录是一个Python包,与它嵌套的 ROS 2...
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 ...
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) {
create_subscription( LaserScan, 'input_scan', self.scan_callback, qos_profile_sensor_data) self.vel_pub = self.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...
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...
//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::...
{// 创建一个订阅器,订阅std_msgs::msg::String类型的消息,从"topic"主题接收,缓冲区大小为10subscription_ = this->create_subscription<std_msgs::msg::String>( "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); } private:/** 订阅回调函数,当接收到消息时调用* 参数为...