class MinimalPublisher(Node): 然后创建一个继承于Node基类的MinimalPublisher节点子类。 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_period, self.time...
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 def timer_callback(self): msg = String() msg.data = 'Hello World: %d' % self.i self.publisher_.publish(msg) s...
self.create_publisher(String,"sexy_girl", 10) 小鱼这里使用create_publisher方法来创建的发布者,该方法一共有三个参数,第一个是方法类型,第二个是话题名称,第三个是消息队列长度,第一个参数我们这里添了String,需要注意的是,这里的String并非Python自带的字符串类型,我们使用 from std_msgs.msg import String ...
self.imu_pub = self.create_publisher(Imu, 'kitti_imu', 10) timer_period = 0.1 # seconds self.timer = self.create_timer(timer_period, self.timer_callback) self.velodyne_file_paths = \ '/home/wangjg/datasets/kitti_raw_data/2011_09_26_drive_0093_sync/oxts/data/' self.file_number = ...
# 创建一个请求产生海龟的客户端 self.turtle_spawning_service_ready = False # 是否已经请求海龟生成服务的标志位 self.turtle_spawned = False # 海龟是否产生成功的标志位 self.publisher = self.create_publisher(Twist,'turtle2/cmd_vel',...
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 deftimer_callback(self): msg=String() msg.data='Hello ROS2 World: %d'%self.i ...
在ROS2(Robot Operating System 2)中,"create publisher"指的是创建一个发布者节点,用于将消息发布到ROS2通信系统中的特定主题。发布者节点可以使用ROS2提供的分配器(allocator)来管理内存分配和释放。 分配器是一种用于分配和管理内存的机制。在ROS2中,分配器负责为消息分配所需的内存,并在消息不再需要时释放内存...
class 的初始化函数,生成 node 名为 talkerself.pub=self.create_publisher(String,'chatter',10)timer_period=0.5self.timer=self.create_timer(timer_period,self.timer_callback)# 设定计时器,到时间就调用 callback 函数self.i=1deftimer_callback(self):msg=String()msg.data='Hello World: %d'%self.i...
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 ...
新建文件publisher_member_function.py 内容如下: 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....