目录 收起 发布者(Publisher) 订阅者(Subscriber) 发布/订阅Topic是ROS2中用于节点间通信的一种机制。在ROS2中,一个节点可以作为发布者(Publisher)发布消息到某个话题(Topic),而其他节点可以作为订阅者(Subscriber)订阅这个话题以接收消息。这种发布/订阅模型允许解耦的通信方式,使得不同节点之间可以灵活地进行数据...
cs_add_executable(minimal_publisher_3 src/minimal_publisher.cpp) 而不用写两条 debug工具:gdb 自己从零写一组Node并运行的流程 创建package编写cpp文件 修改CMakeList.txt Catkin_make -DCATKINMAKE : catkin_create_pkg my_package roscpp std::msg 创建名称为my_package的Package文件在src文件夹中 在my_pa...
<< std::endl; rclcpp::init(argc, argv); auto node = rclcpp::Node::make_shared("pub_node"); auto chatter_pub = node->create_publisher<std_msgs::msg::String>("/pub", 1); rclcpp::WallRate r(5); std_msgs::msg::String msg; int i = 0; while (rclcpp::ok()) { msg.data =...
按Ctrl+C结束这两个节点的对话。 其他实现方法(还没看) There are several ways you could write a publisher and subscriber in C++; check out the minimal_publisher and minimal_subscriber packages in the ros2/examples repo. Writing a simple service and client (C++) 在使用service进行节点间通讯时,cl...
返回到dev_ws/src/cpp_pubsub目录,其中已经包含CMakeLists.txt和package.xml文件。 打开package.xml文件,确保<description>,<maintainer>and<license>这些标签填写完毕: <description>Examples of minimal publisher/subscriber using rclcpp</description><maintaineremail="you@email.com">Your Name</maintainer><license...
class PublisherNode : public rclcpp::Node { public: PublisherNode() : Node("publisher_node") { publisher_ = create_publisher<std_msgs::msg::Int32>("int_topic", 10); timer_ = create_wall_timer( 500ms, std::bind(&PublisherNode::timer_callback, this)); } void timer_callback() { ...
Subscriber: Subscriber负责接收已发布的数据并使数据可用。Subscriber代表一个或多个DataReader句柄。根据Subscriber,Participant可以接收和发送不同指定类型的数据。 DataWriter: DataWriter是Participant必须使用的对象,通过Publisher发布数据, DataWriter发布给定类型的数据。
500ms, std::bind(&MinimalPublisher::timer_callback, this)); } private: void timer_callback() { auto message = std_msgs::msg::String(); message.data = "Hello, world! " + std::to_string(count_++); RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());...
4、发布者Publisher的编程实现 5、订阅者Subscriber的编程实现 6、自定义话题消息 4、发布者Publisher的编程实现 创建功能包 cd ~/catkin_ws/src catkin_create_pkg learning_topic rospy roscpp std_msgs geometry_msgs turtlesim 1. 2. 创建发布者代码(C++) ——文件名为velocity_publisher.cpp ...
it must use apublisherto send data to a topic. A node that wants to receive that information must use asubscriberfor that same topic. Besides its unique name, each topic also has amessage type, which determines the type of messages that are allowed to be transmitted in the specific topic...