【7.talker.py & listener.py】转载自他人作品，相关专业知识咨询相关人员！

任务七：实现话题通信

mkdir -p ~/ROS/src
cd ~/ROS/src
catkin_init_workspace
cd ~/ROS
catkin_make
cd ~/ROS/src/
catkin_create_pkg project3 roscpp rospy std_msgs
cd ~/ROS
catkin_make
cd ~/ROS/src/project3
mkdir scripts
cd scripts
gedit talker.py

#!/usr/bin/env python
import rospy
from std_msgs.msg import String
def talker():
  pub = rospy.Publisher('chatter', String, queue_size=10)
  rospy.init_node('talker')
  rate = rospy.Rate(10) 
  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__':
  talker()

gedit listener.py

#!/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():
  rospy.init_node('listener')
  rospy.Subscriber("chatter", String, callback)
  rospy.spin()
if __name__ == '__main__':
  listener()

chmod +x talker.py
chmod +x listener.py
catkin_install_python(PROGRAMS 
    scripts/talker.py 
    scripts/listener.py
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )

cd ~/ROS
catkin_make
roscore    （另外打开一个终端
source ./devel/setup.bash
rosrun project3 talker.py
source ./devel/setup.bash
rosrun project3 listener.py