def __init__(self): super().__init__('minimal_subscriber_py') # 3-1.创建订阅方; self.subscription = self.create_subscription( String, 'topic', self.listener_callback, 10) self.subscription # 3-2.处理订阅到的消息。 def listener_callback(self, msg): self.get_logger().info('订阅的...
self.subscription= self.create_subscription( LaserScan, 'scan', self.scan_callback, 10) self.publisher_ = self.create_publisher(PointCloud2, 'scan_match', 10) self.threshold = 250 # 设置强度阈值 def scan_callback(self, msg): points = []intensities= np.array(msg.intensities) ranges = np...
def __init__(self, name): super().__init__(name) # 创建订阅者使用的是create_subscription # 参数分别是:话题数据类型、话题名称、回调函数名称,队列长度 self.sub = self.create_subscription(String, "/topic_demo", self.sub_callback, 1) # 回调函数 def sub_callback(self, msg): print("...
ros2 create_subscription是一个命令行工具,用于创建一个订阅节点,该节点可以订阅一个指定的ROS2话题,并在接收到消息时执行指定的回调函数。 使用ros2 create_subscription命令,开发者可以快速创建一个订阅节点,从而接收其他节点发布的消息。这个命令的基本语法如下: bash ros2 create_subscription [OPTIONS] PACKAGE_...
self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 这里是MinimalPublisherd的构造函数,super().__init__ 中会调用父类Node的构造函数,节点名初始化为“minimal_publisher”。然后创建了一个发布者,发布的话题名是topic,话题消息是String,保存消息的队列长度是10,然后创建了一个定...
self.sub = self.create_subscription(Image, 'image_raw', self.listen_callback, 10) self.pub = self.create_publisher(DetectionResults, 'detection_results', 10) self.cv_bridge = CvBridge() self.position_x = 0 self.position_y = 0
self.subscription = self.create_subscription( LaserScan, 'scan', self.scan_callback, 10) self.publisher_ = self.create_publisher(PointCloud2, 'scan_match', 10) self.threshold = 250 # 设置强度阈值 def scan_callback(self, msg): points = [] ...
def __init__(self): super().__init__('minimal_subscriber') self.subscription = self.create_subscription( String, 'hello_world', self.listener_callback, 10) self.subscription # prevent unused variable warning def listener_callback(self, msg): ...
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 ...
importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassListener(Node):def__init__(self):super().__init__('listener')self.subscription=self.create_subscription(String,'chatter',self.listener_callback,10)deflistener_callback(self,msg):self.get_logger().info('I heard: "%s"'%msg.da...