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...
*/ 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 ...
*/ void chatterCallback(const std_msgs::String::ConstPtr& msg) { 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 that it can perform * any ROS arguments and name remapping...
#include"ros/ros.h"#include"std_msgs/String.h"/** * 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_st...
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); /...
c_str()); } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); //初始化ros,向master注册一个叫“listener”的节点 ros::NodeHandle n; ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); //订阅者向master注册自己需要订阅的话题"chatter",消息队列大小...
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...
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) ...
ros::Subscriber my_subscriber_object= n.subscribe("topic1",1,myCallback); ros::spin(); // 类似于 `while(1)`语句,但是当有新消息到来时,会调用回调函数 return 0; } 然后和上篇文章一样,为了编译我们刚写的订阅器,我们还需要修改CMakeLists.txt文件,以便让编译器知道应该编译我们新增的文件。类比上...
hpp> void callback(const std_msgs::msg::String::SharedPtr msg) { std::cout << "sub " << msg->data.c_str() << std::endl; } int main(int argc, char **argv) { std::cout << "Hello, ROS2 Sub!" << std::endl; rclcpp::init(argc, argv); auto node = rclcpp::Node::...