ROS理解进程节点：一个进程节点发布多个话题、订阅多个话题、既发布也订阅话题

ROS节点就是一个进程，节点间通信的发布话题——订阅话题、服务——客户端都是进程节点间通信，一个进程节点可以发布多个话题、订阅多个话题（订阅多个话题只用一个rospy.spin()反算频率-周期休眠）、既发布也订阅话题。

先写个既发布也订阅话题的例子，发布话题行为放在订阅话题的回调函数中实现"依赖"关系：

节点nodeA，发布topicA：

#!/usr/bin/env python2
# -*- coding: UTF-8 -*-
import rospy
# from beginner_tutorials.msg import String
from std_msgs.msg import String

if __name__ == '__main__':
    try:    #嘿嘿
        rospy.init_node('nodeA',anonymous=False)
        pub = rospy.Publisher('~topicA',String,queue_size=10)
        rate = rospy.Rate(0.5)
        pubstr = rospy.get_caller_id()+" pub 'topicA'"
        while not rospy.is_shutdown():
            rospy.loginfo(pubstr)
            pub.publish(pubstr)
            rate.sleep()
    except rospy.ROSInterruptException:
        exceptstr = rospy.get_caller_id()+" exception!"
        rospy.loginfo(excepstr)

节点nodeB，订阅topicA后发布topicB：

#!/usr/bin/env python2
# -*- coding: UTF-8 -*-
import rospy
# from beginner_tutorials.msg import String	#自定义消息类型
from std_msgs.msg import String

def callback(Strobj):
    try:
        pub = rospy.Publisher('~topicB',String)   #定义发布者
        strmsg = rospy.get_caller_id()+" sub topicA then pub topicB"
        rospy.loginfo(strmsg) #往rospy节点记录信息
        #rospy.get_caller_id()返回当前节点的完整解析的节点名
        pub.publish(strmsg) #发布话题,已经在rospy.spin()订阅循环中了
        #，不用再加循环rospy.Rate().sleep()了
    except rospy.ROSInterruptException:
        pass

if __name__=="__main__":
    '''yamlpath、launchpath存储在参数服务器中由roscore或其他先启节点
    以话题的方式发布到当前节点？
    '''
    rospy.init_node('nodeB',anonymous=False)
    rospy.Subscriber('/nodeA/topicA',String,callback)   #定义订阅者
    rospy.spin()

节点nodeC订阅topicB：

#!/usr/bin/env python2
#-*- coding:UTF-8 -*-
import rospy
# from beginner_tutorials.msg import String
from std_msgs.msg import String

def callback(Strobj):
    logstr = rospy.get_caller_id()+" sub topicB"
    rospy.loginfo(logstr)

if __name__ == '__main__':
    rospy.init_node('nodeC',anonymous=False)
    rospy.Subscriber('/nodeB/topicB',String,callback)
    rospy.spin()

运行结果：

haypin@ubt:~/catkin_ws/src/beginner_tutorials/scripts$ rosrun beginner_tutorials _PubCheck2.py 
[INFO] [1617717494.525536]: /nodeA pub 'topicA'
[INFO] [1617717496.527545]: /nodeA pub 'topicA'
[INFO] [1617717498.527747]: /nodeA pub 'topicA'
[INFO] [1617717500.525839]: /nodeA pub 'topicA'
[INFO] [1617717502.527739]: /nodeA pub 'topicA'
[INFO] [1617717504.527792]: /nodeA pub 'topicA'
[INFO] [1617717506.527812]: /nodeA pub 'topicA'
[INFO] [1617717508.527791]: /nodeA pub 'topicA'
^Chaypin@ubt:~/catkin_ws/src/beginner_tutorials/scripts$

 

 

haypin@ubt:~/catkin_ws/src/beginner_tutorials/scripts$ rosrun beginner_tutorials _SubCheckPubUpdate2.py 
/home/haypin/catkin_ws/src/beginner_tutorials/scripts/_SubCheckPubUpdate2.py:9: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('~topicB',String)   #定义发布者
[INFO] [1617717498.533295]: /nodeB sub topicA then pub topicB
[INFO] [1617717500.526424]: /nodeB sub topicA then pub topicB
[INFO] [1617717502.529730]: /nodeB sub topicA then pub topicB
[INFO] [1617717504.529405]: /nodeB sub topicA then pub topicB
[INFO] [1617717506.529490]: /nodeB sub topicA then pub topicB
[WARN] [1617717508.051299]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[INFO] [1617717508.529696]: /nodeB sub topicA then pub topicB
^Chaypin@ubt:~/catkin_ws/src/beginner_tutorials/scripts$

 

 

haypin@ubt:~/catkin_ws/src/beginner_tutorials/scripts$ rosrun beginner_tutorials _SubUpdate2.py 
[INFO] [1617717504.530522]: /nodeC sub topicB
[INFO] [1617717506.530790]: /nodeC sub topicB
^Chaypin@ubt:~/catkin_ws/src/beginner_tutorials/scripts$