学习总结7：ROS入门

publisher:

from std_msgs.msg import String
if __name__ == '__main__':
    rospy.init_node("publisher_node")
    #topic name 主题名称 唯一识别
    #data_class 数据类型
    #queue_size传输大小
    topic_name = 'hello'
    publisher = rospy.Publisher(topic_name,String,queue_size=100)
    count = 0
    rose=rospy.Rate(1)
    while not rospy.is_shutdown():
        string = String()
        string.data ='hello topic {}'.format(count)
        publisher.publish(string)
        rose.sleep()
        count+=1

subscriber:

#!/usr/bin/env python
#coding:utf-8
import rospy
from std_msgs.msg import String
def topic_callback(msg):
    print msg
if __name__ == '__main__':
    rospy.init_node("subscriber_node")
    topic_name='hey'
    subscriber = rospy.Subscriber(topic_name,String,topic_callback)
    rospy.spin()
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