rospy常用API学习

rospy常用API学习

rospy.get_param() 从参数服务器获得参数

def get_param(param_name, default=_unspecified):
""" 
Retrieve a parameter from the param server NOTE: this method is thread-safe.
@param default: (optional) default value to return if key is not set 
@type default: any 
@return: parameter value 
@rtype: XmlRpcLegalValue 
@raise ROSException: if parameter server reports an error 
@raise KeyError: if value not set and default is not given
"""  

rospy.wait_for_message() 从topic中获得消息

def wait_for_message(topic, topic_type, timeout=None):
""" 
Receive one message from topic. This will create a new subscription to the topic, receive one message, then unsubscribe. @param topic: name of topic 
@type topic: str 
@param topic_type: topic type
@type topic_type: L{rospy.Message} class
@param timeout: timeout time in seconds 
@type timeout: double 
@return: Message 
@rtype: L{rospy.Message} 
@raise ROSException: if specified timeout is exceeded 
@raise ROSInterruptException: if shutdown interrupts wait