转载自:
https://blog.csdn.net/weixin_44741023/article/details/102567139
这里,假设我们的包名叫做test_py.
我们写自己的msg文件在该包的msg文件夹下。
test.msg
float32[] data
#!/usr/bin/env python
import rospy
#from后边是自己的包.msg,也就是自己包的msg文件夹下,test是我的msg文件名test.msg
from test_py.msg import test
def talker():
pub = rospy.Publisher('chatter', test, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
#temp为到时候要用于传输的信息
temp = [1, 2]
#这里test就像构造函数般使用,若有多个msg,那么写成test(a,b,c,d...)
rospy.loginfo(test(temp))
pub.publish(test(temp))
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
#!/usr/bin/env python
import rospy
from test_py.msg import test
def callback(data):
#传过来的所有msg为data,其中data.后边的变量看msg文件写,比如我的是float32[] data,那么我就是data.data
rospy.loginfo(data.data)
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber('chatter', test, callback)
rospy.spin()
if __name__ == '__main__':
listener()
$ chmod +x talker.py
$ chmod +x listener.py
最后再贴上我的package文件和CMakeLists.txt文件
package.xml文件如下:
<package>
<name>test_py</name>
<version>0.0.0</version>
<description>The test_py package</description>
<maintainer email="smile@todo.todo">smile</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>message_runtime</run_depend>
</package>
<package format = "2">
那么catkin_make的时候,下边的<run_depend>会报错。
我的CMakeList.txt文件如下:
cmake_minimum_required(VERSION 2.8.3)
project(test_py)
find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
message_generation
)
add_message_files(
FILES
test.msg
)
generate_messages(
DEPENDENCIES
test_py
)
#对于C++结点的CMakeLists.txt文件,INCLUDE_DIRS include和LIBRARIES test_py不能注释,
#但是对于python,这两行不注释,catkin_make通不过
catkin_package(
#INCLUDE_DIRS include
#LIBRARIES test_py
CATKIN_DEPENDS rospy message_runtime
DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)