园林景观设计网站推荐,国内wordpress主题,网站seo推广招聘,怎么创建网站 免费滴目录如何实现一个订阅者C编写程序配置CMakeLists.txt编译并运行发布者python创建并编写脚本运行平台#xff1a;华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本#xff1a;Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 记录自【古月居】古月ROS入门21讲 | 一学就会的ROS机…
目录如何实现一个订阅者C编写程序配置CMakeLists.txt编译并运行发布者python创建并编写脚本运行平台华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 记录自【古月居】古月·ROS入门21讲 | 一学就会的ROS机器人入门教程 —— 古月居GYH P11 11.订阅者Subscriber的编程实现
如何实现一个订阅者
初始化ROS节点订阅需要的话题循环等待话题消息接收到消息后进入回调函数在回调函数中完成消息处理。
C
编写程序
nano ~/catkin_workspace/src/learning_topic/src/pose_subscriber.cpp/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************//*** 该例程将订阅/turtle1/pose话题消息类型turtlesim::Pose*/#include ros/ros.h
#include turtlesim/Pose.h// 接收到订阅的消息后会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr msg)
{// 将接收到的消息打印出来ROS_INFO(Turtle pose: x:%0.6f, y:%0.6f, msg-x, msg-y);
}int main(int argc, 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();return 0;
}
配置CMakeLists.txt
nano ~/catkin_workspace/src/learning_topic/CMakeLists.txt在Build内Install前加入
add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})编译并运行发布者
cd ~/catkin_workspace
catkin_make# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic velocity_publisher# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic pose_subscriber# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rqt_graphpython
创建并编写脚本
nano ~/catkin_workspace/src/learning_topic/scripts/pose_subscriber.py#!/usr/bin/env python
# -*- coding: utf-8 -*-########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
######################################################################### 该例程将订阅/turtle1/pose话题消息类型turtlesim::Poseimport rospy
from turtlesim.msg import Posedef poseCallback(msg):rospy.loginfo(Turtle pose: x:%0.6f, y:%0.6f, msg.x, msg.y)def pose_subscriber():# ROS节点初始化rospy.init_node(pose_subscriber, anonymousTrue)# 创建一个Subscriber订阅名为/turtle1/pose的topic注册回调函数poseCallbackrospy.Subscriber(/turtle1/pose, Pose, poseCallback)# 循环等待回调函数rospy.spin()if __name__ __main__:pose_subscriber()运行
sudo chmod x ~/catkin_workspace/src/learning_topic/scripts/pose_subscriber.py# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic velocity_publisher.py# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic pose_subscriber.py# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rqt_graph
