1. 创建talker1
#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
def talker():
pub = rospy.Publisher('chatter1', String, queue_size=10)
rospy.init_node('talker1', anonymous=True)
rate = rospy.Rate(1) # 10hz
while not rospy.is_shutdown():
hello_str = "hello world 1 %s" % rospy.get_time()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
此节点创建了名为“talker1”的节点,并以每秒1个的频率发布名为“chatter1”的话题,话题内容为“hello word1+当前系统时间”
2.创建talker2
#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
def talker():
pub = rospy.Publisher('chatter2', String, queue_size=10)
rospy.init_node('talker2', anonymous=True)
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
hello_str = "hello world 2 %s" % rospy.get_time()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
此节点创建了名为“talker2”的节点,并以每秒10个的频率发布名为“chatter2”的话题,话题内容为“hello word2+当前系统时间”
3.创建listener
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
import message_filters
def callback(data1, data2):
rospy.loginfo( "I heard %s %s", data1.data,data2.data)
def listener():
rospy.init_node('listener', anonymous=True)
t1= message_filters.Subscriber("chatter1", String)
t2 =message_filters.Subscriber("chatter2", String)
ts = message_filters.ApproximateTimeSynchronizer([t1, t2], 10, 1, allow_headerless=True)
ts.registerCallback(callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
listener()
此节点创建了名为“listener”的节点,同时订阅chatter1和chasster2的话题,并利用message_filters实现话题同步,共同调用callback