2、Subscriber的第三个参数 callback的原理 Subscriber的第三个参数 callback的定义1 大多数的时候,我们会简单粗暴地直接定义回调函数void callback(std_msgs::String msg); 这样写之所以程序仍然正确,是因为还有好几个重载函数类型。 Subscriber的第三个参数 callback的定义2 Subscriber的第三个参数 callback的定义3...
def callback(data): rospy.loginfo(data.data) def listener(): # 初始化名为listener的ROS节点,设置匿名标志为True rospy.init_node('listener', anonymous=True) # 创建一个Subscriber对象,用于订阅chatter话题上的String类型消息,并指定回调函数 rospy.Subscriber("chatter", String, callback) # 保持Python程...
订阅者(Subscriber) 在<工作空间>/pkg_topic_cpp/src/目录下创建subscriber_node_cpp.cpp,然后实现如下代码: #include <cstdio> #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" // Subscription回调函数 void mySubCallback(const std_msgs::msg::String::SharedPtr msg) { RCLCPP_INFO(...
class Topic_Subscriber(Node): 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_ca...
开启一个案例玩耍起来(ros2InterfaceTopicPublisherAndSubscriber.ttt): 使用终端查看一下消息: 添加一个仿真时间: 选择sphere,添加子代码如下: functionsubscriber_callback(msg) --This is the subscriber callbackfunction sim.addStatusbarMessage('subscriber receiver following Float32: '..msg.data) ...
ros::Subscriber my_subscriber_object= n.subscribe("topic1",1,myCallback); ros::spin(); return 0; } subscribe需要3个参数:topic type、topic name、callback functions. ppt1.27的链接 In this application all user callbacks will be called from within the ros::spin() call. ros::spin() will ...
sub= ros2subscriber(node,topic,type,callback)specifies a callback functioncallback, and subscribes to a topic that has the specified nametopicand message typetype. sub= ros2subscriber(___,Name,Value)specifies additional options using one or more name-value pair arguments. Specify name-value pa...
subscriber = rospy.Subscriber("/topic_to_subscribe", "message_type", callback=None) print(f"已订阅话题:{subscriber.get_topic()}") asyncio.run(cancel_subscription(subscriber)) rospy.spin() ``` 请注意,将`/topic_to_subscribe`替换为你要取消订阅的实际话题名称。 最后,运行该Python脚本: ```sh...
* We will have a single subscriber node running 2 threads. Each thread loops at different speeds, and * just repeats what it sees from the publisher to the screen. */ class PublisherNode : public rclcpp::Node { public: PublisherNode() ...
ROS2 Subscriber Publisher 例子 运行环境 代码语言:javascript 复制 Ubuntu 20.04 ROS Foxy sub 代码语言:javascript 复制 #include <iostream> #include <rclcpp/rclcpp.hpp> #include <std_msgs/msg/string.hpp> void callback(const std_msgs::msg::String::SharedPtr msg) { std::cout << "sub " << ...