Python为ROS编写一个简单的发布者和订阅者

Python为ROS编写一个简单的发布者和订阅者

1.创建工作空间

1.1建立文件夹hello_rospy,再在该目录下建立子目录src,并创建工作空间

mkdir -p ~/hello_rospy/src
cd ~/hello_rospy/src
catkin_init_workspace

1.2 编译

cd ~/hello_rospy/
catkin_make

1.3设置运行环境

echo "source ~/hello_rospy/devel/setup.bash" >> ~/.bashrc

1.4 检查运行环境（可以省略）

echo #ROS_PACKAGE_PATH

如果成功的话，输出内容应该包含，本空间的” …/devel/setup.bash"文件。

2.创建beginner_tutorials包

在src目录下创建beginner_tutorials包

cd ~/hello_rospy/src
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

3.编写发布者程序和订阅者程序

在beginner_tutorials 文件夹下面创建scripts文件夹，并在scripts文件夹下新建talker.py和listener.py两个文件

roscd beginner_tutorials/ 
mkdir scripts
cd scripts

在scripts目录下新建talker.py文件，写入如下内容：

#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
def talker():
     pub = rospy.Publisher('chatter', String, queue_size=10)
     rospy.init_node('talker', anonymous=True)
     rate = rospy.Rate(10) # 10hz
     while not rospy.is_shutdown():
         hello_str = "hello world %s" % rospy.get_time()
         rospy.loginfo(hello_str)
         pub.publish(hello_str)
         rate.sleep()

if __name__ == '__main__':
     try:
         talker()
     except rospy.ROSInterruptException:
         pass

在scripts目录下新建listener.py文件，写入如下内容：

#!/usr/bin/env python
 import rospy
 from std_msgs.msg import String

 def callback(data):
     rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)

 def listener():

     # In ROS, nodes are uniquely named. If two nodes with the same
     # node are launched, the previous one is kicked off. The
     # anonymous=True flag means that rospy will choose a unique
     # name for our 'listener' node so that multiple listeners can
     # run simultaneously.
     rospy.init_node('listener', anonymous=True)

     rospy.Subscriber("chatter", String, callback)

     # spin() simply keeps python from exiting until this node is stopped
     rospy.spin()

 if __name__ == '__main__':
     listener()

更改文件权限为可执行文件

chmod +x talker.py
chmod +x listener.py

4. 编译

（Python编写可以省略）修改Cmakelist.txt为如下：
如果是按照上面编写的，Cmakelist.txt中的内容步需要修改

cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)
catkin_package()

回到工作空间运行,catkin_make,编译：

catkin_make

5. 运行

cd   #回到梗目录
roscore  #启动ROS
rosrun beginner_tutorials talker.py
rosrun beginner_tutorials listener.py

运行结果：