self.command_publisher1 = self.create_publisher(Int32,"command1", 10) self.timer = self.create_timer(0.4, self.timer_callback) # # self.inputdata1() def inputdata1(self): msg = Int32() #String() period=0.5 print("publisher1-周期",period) self.get_logger().info(f'发布了指令:{m...
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(...
self.pub_novel = self.create_publisher(String,"sexy_girl", 10) #3. 编写发布逻辑 # 创建定时器成员属性timer self.i = 0 # i 是个计数器,用来算章节编号的 timer_period = 5 #每5s写一章节话 self.timer = self.create_timer(timer_period, self.timer_callback) #启动一个定时装置,每 1 s,调...
self.publisher_=self.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。 deftimer_callback(self): msg=String...
self.publisher_ = self.create_publisher(Num, 'topic', 10) # CHANGE timer_period = 0.5 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 ...
“`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) ...
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 = self.SPEED_LINEAR if self.check_forward_2_stop(): self.go...
ament_python构建的一个示例是ament_index_pythen包,其中的设置。 setup.py是建筑的主要入口点。 demo_nodes_cpp等包使用ament_cmake构建类型,并使用cmake作为构建工具。 为了方便起见,您可以使用工具ros2 pkg create基于模板创建新的包。 设置colcon_cd
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(...
timer_ = this->create_wall_timer( 1s, std::bind(&ManagedScan::publish, this)); RCLCPP_INFO(get_logger(), "on_configure() is called."); return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; }