在ros1中可以使用下面的程序,来获取一条指定话题的数据消息 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,...
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...
If incomplete network information is returned from ros2, wait for a short time before trying again. bag2info = ros2("bag","info",folderpath) returns information about the contents of the ros2bag as a structure, bag2info at folderpath. Note If the ROS 2 bag log file contains custom ...
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:...
Wait a moment for the network to publish another/posemessage. Display the updated values. pause(3) disp(pos) 0.0195 -0.0432 -0.0245 disp(orient) -0.0276 0.0168 0.0344 If you type inposandorienta few times in the command line you can see that the values are continuously updated. ...
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))...
for information that this node cannot resolve. byte ERROR=40 # Information about a impending node shutdown. byte FATAL=50 # # Fields # # Timestamp when this message was generated by the node. builtin_interfaces/Time stamp # Corresponding log level, see above definitions. uint8 level # The...
[2]);request->c=atoll(argv[3]);// CHANGEwhile(!client->wait_for_service(1s)){if(!rclcpp::ok()){RCLCPP_ERROR(rclcpp::get_logger("rclcpp"),"Interrupted while waiting for the service. Exiting.");return0;}RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"service not available, waiting again...
目前CycloneDDS(基于iceoryx), FastDDS and eCAL等通信中间件都支持“zero-copy transport”共享内存技术:Zero-copy DDS Performance Comparison for RMW Providers in ROS 2 ROS2为了支持“zero-copy transport”提出了rclcpp::LoanedMessage,相关应用示例详见:https://github.com/ZhenshengLee/ros2_shm_msgs ...
add wait_for_action_server() for action clients (#598) Dec 7, 2018 CONTRIBUTING.md add section about DCO to CONTRIBUTING.md Mar 20, 2019 LICENSE update license file to keep copyright template Apr 4, 2015 README.md Remove references to index.ros.org. (#2504) ...