import rclpy- 导入 ROS2 Python 客户端库。 Node- 创建节点,节点是 ROS2 的基本单位。 create_publisher- 创建一个发布者,类型为String,主题为topic。 create_timer- 每一秒调用一次timer_callback方法,发送消息。 publish(msg)- 发送消息。 第四步:编写订阅节点 接下来,我们将创建一个名为listener.py的节点,...
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(...
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...
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...
ros2 pkg create --build-type ament_python python_parameters --dependencies rclpy 终端将会返回一条消息以确认python_parameters软件包及其所有必需的文件和文件夹的创建。 参数--dependecies将会自动向package.xml和CMakeLists.txt文件添加必要的依赖项代码行。
“`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) ...
# 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 # compute transformations from_frame_rel = self.target_frame to_frame_rel = 'turtle2' ...
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 ...
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...
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(...