msg = rospy.wait_for_message('话题名字',话题类型) 1. 该函数实现原理为:创建一个订阅,接收一条消息,取消订阅 https://docs.ros.org/en/diamondback/api/rospy/html/rospy.client-module.html#wait_for_message 照着这个原理,我们可以写一个ROS2中相同的函数,但是需要注意ROS2中的rospy...
第二种方式:rospy.wait_for_message 该方法无需节点,也无需回调函数,其与一个函数类似,等待话题发布消息,当接收到一个消息时,返回数据,继续执行后面的程序。相对于第一种,我们把它称为半阻塞,接收的话题如果没有发布消息,它会一直等待,但是接收到一个消息后,等待结束,会继续执行后面的程序。 msg2 = rospy.wai...
在Github网站上可以找到ROS 1的turtle_tf2软件包,打开其launch子目录下的turtle_tf2_sensor.launch文件,可以发现需要运行一个节点turtle_tf2_message_broadcaster,其对应的Python文件是位于该软件包nodes子目录中的turtle_tf2_message_broadcaster.py。打开该Python文件,其代码如下: #!/usr/bin/env python # Software Li...
<buildtool_depend>catkin</buildtool_depend><!--对应的包--><build_depend>message_generation</build_depend><exec_depend>message_runtime</exec_depend><!--###--><buildtool_depend>ament_cmake</buildtool_depend><build_type>ament_cmake</build_type><!--...
msg::Int32::UniquePtr msg){auto pub_ptr=captured_pub.lock();if(!pub_ptr){return;}printf("Received message with value: %d, and address: 0x%"PRIXPTR"\n",msg->data,reinterpret_cast<std::uintptr_t>(msg.get()));printf(" sleeping for 1 second...\n");if(!rclcpp::sleep_for(1s))...
publisher_->publish(message); } rclcpp::TimerBase::SharedPtr timer_; rclcpp::Publisher<tutorial_interfaces::msg::Num>::SharedPtr publisher_; // CHANGE size_t count_; }; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::spin(std::make_shared<MinimalPublisher>()...
<buildtool_depend>ament_cmake</buildtool_depend><depend>rclcpp</depend><depend>message_filters</depend><depend>pcl_msgs</depend><depend>PCL</depend><depend>rclcpp_components</depend><test_depend>ament_lint_auto</test_depend><test_depend>ament_lint_common</test_depend> ...
The"DomainID"name-value pair applies only to information gathered from the active network, such as the node and topic list, and not to static ROS 2 data such as message information. The first timeros2is called for a specific domain ID not all information on the network may be immediately...
https://answers.ros.org/question/334183/ros2-dashing-message-frequency-lower-than-expected/ 原因是因为FastRTPS这类DDS并不能传输较大的带宽: https://blog.csdn.net/lovely_yoshino/article/details/120476219 我们可以更换DDS来缓解这样的问题,但是仍然存在丢...
Last commit message Last commit date Latest commit Barry-Xu-2018 Support action typesupport helper (#2750) Feb 28, 2025 48a4761·Feb 28, 2025 History 1,848 Commits .github Remove CODEOWNERS and the rolling-to-master job. (#2686)