ros callback 回调机制 & 订阅队列长度

最新推荐文章于 2024-09-05 17:27:26 发布

Alan Lan

最新推荐文章于 2024-09-05 17:27:26 发布

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分类专栏： ROS 多线程

本文链接：https://blog.csdn.net/A_L_A_N/article/details/115064896

版权

实验程序：

talker.cc

#include <std_msgs/Int32.h>
#include <ros/ros.h>

int main(int argc, char **argv) {
    ros::init(argc, argv, "talker");
    ros::NodeHandle nh;
    std_msgs::Int32 data;
    data.data = 0;
 
    ros::Publisher pub = nh.advertise<std_msgs::Int32>("alan_topic", 1);
    ros::Rate loop_rate(1.0); // 1hz
    while (ros::ok()) {
        data.data++;
        pub.publish(data);
        std::cout << std::setprecision(12) << "[" << ros::Time::now().toSec() << "] publish " << data.data << std::endl;
        loop_rate.sleep();
    }
    return 0;
}

listener.cc

#include <ros/ros.h>
#include <std_msgs/Int32.h>

void alan_callback(const std_msgs::Int32& data){
    std::cout << std::setprecision(12) << "[" << ros::Time::now().toSec() << "] process " << data.data << " short time" << std::endl;
    std::cout << std::setprecision(12) << "[" << ros::Time::now().toSec() << "] process " << data.data << " long time" << std::endl;
    return;
}

int main(int argc, char ** argv) {
    ros::init(argc, argv, "listener");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("alan_topic", 1, alan_callback);
    ros::spin();
    return 0;
}

实时

listener.cc

#include <unistd.h>
#include <ros/ros.h>
#include <std_msgs/Int32.h>

void alan_callback(const std_msgs::Int32& data){
    std::cout << std::setprecision(12) << "[" << ros::Time::now().toSec() << "] process " << data.data << " short time" << std::endl;
    std::cout << std::setprecision(12) << "[" << ros::Time::now().toSec() << "] process " << data.data << " long time" << std::endl;
    sleep(5); // 5秒
    return;
}

int main(int argc, char ** argv) {
    ros::init(argc, argv, "listener");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("alan_topic", 1, alan_callback);
    ros::spin();
    return 0;
}

回调函数处理时间长导致数据丢失（队列长度为1ÿ