ros::init(argc, argv,"wheel_motor_node");//Initialize noderos::NodeHandle n;//Create nodehandle objectsub = n.subscribe("wheel_motor_rc",1000, callBack);//Create object to subscribe to topic "wheel_motor_rc"pub = n.advertise<motor_controller::AdaCmd>("adaFruit",1000);//Create object ...
*/ void chatterCallback(const std_msgs::String::ConstPtr& msg)//是一个回调函数,当接收到 chatter 话题的时候就会被调用。 { ROS_INFO("I heard: [%s]", msg->data.c_str()); } int main(int argc, char **argv) { /** * The ros::init() function needs to see argc and argv so ...
1#include"ros/ros.h"2#include"std_msgs/String.h"34voidchatterCallback(conststd_msgs::String::ConstPtr &msg)5{6ROS_INFO("Hello test1_a! I am test1_b. I heard:[%s]",msg->data.c_str());7}89intmain(intargc,char**argv)10{11ros::init(argc,argv,"test1_b");12ros::NodeHandle n...
// 初始化ROS节点 ros::init(argc,argv,"pose_subscriber"); // 创建节点句柄 ros::NodeHandlen; // 创建一个Subscriber,订阅名为/turtle1/pose的topic,注册回调函数poseCallback ros::Subscriberpose_sub=n.subscribe("/turtle1/pose",10,poseCallback); // 循环等待回调函数 ros::spin(); return0; } ...
* This tutorial demonstrates simple receipt of messages over the ROS system.*/voidchatterCallback(conststd_msgs::String::ConstPtr&msg)//是一个回调函数,当接收到chatter话题的时候就会被调用。 { ROS_INFO("I heard: [%s]", msg->data.c_str()); ...
ros::init(argc, argv, "pose_subscribes"); // 创建节点句柄 ros::NodeHandle n; // 创建一个Subscriber,订阅名为/turtle1/pose的topic,注册回调函数poseCallback ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback); /...
每个python版本的ROS节点在开头都有这样一个声明,表示这个文件是python类型 import rospy from std_msgs.msg import String 1. 2. 如果要写ROS节点,需要导入rospy。std_msgs.msg的目的是可以使用std_msgs/String消息类型来发布 pub = rospy.Publisher('chatter', String, queue_size=10) ...
#include"ros/ros.h"#include"std_msgs/String.h"voidchatterCallback(conststd_msgs::String::ConstPtr&msg){ROS_INFO("I heard: [%s]",msg->data.c_str());}intmain(intargc,char**argv){ros::init(argc,argv,"listener");ros::NodeHandle n;ros::Subscriber sub=n.subscribe("chatter",1000,chat...
void chatterCallback(const std_msgs::String::ConstPtr& msg){ROS_INFO("I heard: [%s]", msg->data.c_str());} 通过下述命令订阅chatter话题,当有新消息到达时,调用上述的chatterCallback函数。第二个参数是队列的大小,以防我们不能足够快的处理消息。在此情况下,如果队列达到了1000个消息,我们将在新...
(intargc,char**argv){// 初始化ROS节点ros::init(argc,argv,"pose_subscriber");// 创建节点句柄ros::NodeHandle n;// 创建一个Subscriber,订阅名为/turtle1/pose的topic,注册回调函数poseCallbackros::Subscriber pose_sub=n.subscribe("/turtle1/pose",10,poseCallback);// 循环等待回调函数ros::spin(...