ROS中Python话题发布与订阅入门|发布自定义话题|消息

ROS中Python话题发布与订阅入门|发布自定义话题|消息

#!/usr/bin/env python
from time import sleep, time
from math import pi
import threading
import math
from matplotlib import pyplot as plt
import numpy as np
import rospy
from sensor_msgs.msg import JointState #从sensor_msgs.msg包中导入一个Joint_state类型
from std_msgs.msg import String #从std_msg包中导入一个string类型
#话题发布
#节点订阅
#Ezekiel
class Ez_msg:
     def __init__(self):
         self.angle = 0
         self.delta_x = 1
            
def Ezekiel_Node_Pub():
    # ROS节点初始化
    rospy.init_node('Ezekiel_talk', anonymous=True)
    # 创建一个Publisher，发布名为/Ezekiel_mok的topic，消息类型为Ezekiel_talk::Pub_Str，队列长度10
    Ezekiel_info_pub = rospy.Publisher('/Ezekiel_mok', Pub_Str, queue_size=10)
    #设置循环的频率
    rate = rospy.Rate(10)
    #实体化类
    Ez_msg_ = Ez_msg()
    while not rospy.is_shutdown():
    # 发布消息
        Ezekiel_info_pub.publish(Ez_msg_)
        rate.sleep()# 按照循环频率延时
        rospy.loginfo("Publish laneline message[%d, %d]", Ez_msg_.angle, Ez_msg_.delta_x)
if __name__ == '__main__':
    try:
        Ezekiel_Node_Pub()
    except rospy.ROSInterruptException:
        pass

#!/usr/bin/env python
from time import sleep, time
from math import pi
import threading
import math
from matplotlib import pyplot as plt
import numpy as np
import rospy
from sensor_msgs.msg import JointState #从sensor_msgs.msg包中导入一个Joint_state类型
from std_msgs.msg import String #从std_msg包中导入一个string类型


def EzekielInfoCallback(Ez_msg_):
     rospy.loginfo("Publish laneline message[%d, %d]", Ez_msg_.angle, Ez_msg_.delta_x)
def Ezekiel_Subscriber():
    # ROS节点初始化
    rospy.init_node('Ezekiel_Subscriber', anonymous=True)
    # 创建一个Subscriber，订阅名为/laneline_info的topic，注册回调函数lanelineInfoCallback
    rospy.Subscriber("/Ezekiel_mok", Pub_Str, Ez_InfoCallback)
    # 循环等待回调函数
    rospy.spin()
if __name__ == '__main__':
    Ezekiel_Subscriber()