古月居 ROS入门21讲 第十一讲 订阅者Subscriber的编程实现

古月居 ROS入门21讲 第十一讲 订阅者Subscriber的编程实现

• C++
  pose_subscriber.cpp

#include<ros/ros.h>
#include "turtlesim/Pose.h"
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
    ROS_INFO("Turtle pose: x:%0.6f,y:%0.6f",msg->x,msg->y);
}
int main(int argc,char**argv)
{
    ros::init(argc,argv,"pose_subscriber");
    ros::NodeHandle n;
    ros::Subscriber pose_sub=n.subscribe("/turtle1/pose",10,poseCallback);
    ros::spin();
    return 0;
}

vim src/learning_topic/CMakeLists.txt

在CMakelists.txt中添加

add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})

编译

cd ~/catkin_ws/
source devel/setup.bash
catkin_make

运行

roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic  pose_subscriber

• Python

#!/usr/bin/env python

import rospy
from turtlesim.msg import Pose

def poseCallback(msg):
    rospy.loginfo("Turtle pose: X:%0.6f,y:%0.6f",msg.x,msg.y)
def pose_subscriber():
    rospy.init_node('pose_subscriber',anonymous=True)
    rospy.Subscriber("/turtle1/pose",Pose,poseCallback)
    rospy.spin()

if __name__=='__main__':
    pose_subscriber()

运行

roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic  pose_subscriber.py