$ ros2 topic pub some_pose_array geometry_msgs/PoseArray "{header: {stamp: {sec: 1, nanosec: 2}, frame_id: some_frame}, poses: [{position: {x: 0, y: 1, z: 2}, orientation: {x: 3, y: 4, z: 5, w: 6}}]}"
ros2 topic pub -1 /local_xy_origin geometry_msgs/msg/PoseStamped "{header: { stamp: {sec: 0, nanosec: 0}, frame_id: map}, pose: {position:{x: 0.0,y: 0.0,z: 0.0}, orientation:{x: 0.0,y: 0.0,z: 0.0,w: 0.0}}}" -1代表发送一次 ros2 topic pub -1 /gps_goal_fix sensor...
参数-1只发送一次 :ros2 topic pub -1 topic_name messge_type message_content 参数-t count循环发送count次: ros2 topic pub -t count topic_name messge_type message_content 参数-r count以count Hz的频率循环发送: ros2 topic pub -r count topic_name messge_type message_content 如下案例循环发送...
在my_publisher目录中创建一个名为publisher.py的文件,使用以下代码编辑它: importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassMinimalPublisher(Node):def__init__(self):super().__init__('minimal_publisher')self.publisher_=self.create_publisher(String,'topic',10)self.timer=self.create_...
ros2 topic info /greetings # publish at 10 hz ros2 topic pub -r 10 /greetings example_interfaces/msg/String "{data: 'Hello from terminal'}" # publish once ros2 topic pub -1 /greetings example_interfaces/msg/String "{data: 'Hello from terminal'}" # check hz ros2 topic hz /...
self.timer = self.create_timer(1, self.pub_msg) # 定义处理函数 def pub_msg(self): msg = String() msg.data = "Hello, I send a message" self.pub.publish(msg) #发布话题数据 def main(): rclpy.init() publisher_demo = Topic_Publisher("publisher_node") rclpy.spin(publisher_demo) publ...
$ ros2 run learning_topic topic_helloworld_pub 启动第二个终端,运行话题的订阅者节点: $ ros2 run learning_topic topic_helloworld_sub 可以看到发布者循环发布“Hello World”字符串消息,订阅者也以几乎同样的频率收到该话题的消息数据。 发布者代码解析 ...
4、ros2 topic echo 5、 ros2 topic info 6、ros2 interface show 7、ros2 topic pub 8、ros2 topic hz 9、总结 一、ROS2中话题(Topic in ROS 2) ROS 2将复杂系统分解为许多模块化节点。“Topic ”是ROS图的一个重要元素,充当节点交换消息的总线。
$ ros2 run usb_cam usb_cam_node_exe$ ros2 run learning_topic interface_object_pub$ ros2 run learning_topic interface_object_sub 接口定义 在这个例程中,我们使用ObjectPosition.msg定义了服务通信的接口: learning_interface/msg/ObjectPosition.msg ...
$ ros2 run usb_cam usb_cam_node_exe$ ros2 run learning_topic interface_object_pub$ ros2 run learning_topic interface_object_sub 接口定义 在这个例程中,我们使用ObjectPosition.msg定义了服务通信的接口: learning_interface/msg/ObjectPosition.msg ...