ROS实践07 自定义消息调用python

运行环境：

ubuntu20.04 noetic
宏基暗影骑士笔记本

思路：

创建功能包
在功能包scripts下新建.py文件
修改CMakLists
运行节点

1.1发布方实现

定义.msg文件，修改includePath 参考博客：ROS实践06 自定义消息类型

1)在功能包scripts中新建person_pub.py文件

#! /usr/bin/env python
"""
    发布方:
        循环发送消息

"""
import rospy
from demo01_pub.msg import Person


if __name__ == "__main__":
    #1.初始化 ROS 节点
    rospy.init_node("talker_person_p")
    #2.创建发布者对象
    pub = rospy.Publisher("chatter_person",Person,queue_size=10)
    #3.组织消息
    p = Person()
    p.name = "葫芦瓦"
    p.age = 18
    p.height = 0.75

    #4.编写消息发布逻辑
    rate = rospy.Rate(1)
    while not rospy.is_shutdown():
        pub.publish(p)  #发布消息
        rate.sleep()  #休眠
        rospy.loginfo("姓名:%s, 年龄:%d, 身高:%.2f",p.name, p.age, p.height)

2)修改CMakeLists.txt

catkin_install_python(PROGRAMS
  scripts/person_pub.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

3)运行节点

ctrl+shift+B 编译

roscore
source ./devel/setup.py
rosrun demo01_pub person_pub.py

2.1订阅方实现

1)在功能包scripts中新建person_sub.py文件

#! /usr/bin/env python
"""
    订阅方:
        订阅消息

"""
import rospy
from demo01_pub.msg import Person

def doPerson(p):
    rospy.loginfo("接收到的人的信息:%s, %d, %.2f",p.name, p.age, p.height)


if __name__ == "__main__":
    #1.初始化节点
    rospy.init_node("listener_person_p")
    #2.创建订阅者对象
    sub = rospy.Subscriber("chatter_person",Person,doPerson,queue_size=10)
    rospy.spin() #4.循环

2)修改CMakeLists.txt

catkin_install_python(PROGRAMS
  scripts/person_sub.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

3)运行节点

ctrl+shift+B 编译

# 打开新终端
cd src/demo01_pub/scripts/person_sub.py
source ./devel/setup.py
rosrun demo01_pub person_sub.py

⭐⭐⭐ 嘟嘟崽 ⭐⭐⭐ ⭐⭐⭐ 祝你成功 ⭐⭐⭐