运行环境:
ubuntu20.04 noetic
宏基暗影骑士笔记本
思路:
将不同的.py文件关联起来,互相调用
添加scripts路径到python解释器
sys.path.insert(0, “/home/duduzai/demo01_ws/src/demo02_pub_py/scripts”)
1.1 新建.py
前期实现可参考:ROS实践04 发布方实现Python
在scripts下新建脚本tool.py
num = 1000
修改CMakeLists.txt
catkin_install_python(PROGRAMS
scripts/demo02_pub.py
scripts/tool.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
1.2 demo02_pub.py 调用 tool.py
错误示范:
import tool
rospy.loginfo("num = %d",tool.num)
rosrun demo02_pub_py demo02_pub.py
报错:NameError: name ‘tools’ is not defined
问题:路径问题
正确示范:
将scripts路径 添加到python解释器中
sys.path.insert(0, "/home/duduzai/demo01_ws/src/demo02_pub_py/scripts")
import tool
rospy.loginfo("num = %d",tool.num)
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
# import sys
import sys
sys.path.insert(0, "/home/duduzai/demo01_ws/src/demo02_pub_py/scripts")
import tool
def publisher_node():
# 初始化 ROS 节点
rospy.init_node('publisher_node', anonymous=True)
rospy.loginfo("num = %d",tool.num)
# 创建一个名为“message”的话题,消息类型为 std_msgs/String
pub = rospy.Publisher('message', String, queue_size=10)
# 设置发布频率
rate = rospy.Rate(10)
while not rospy.is_shutdown():
# 创建一个 String 类型的消息
message = "Hello, world!"
# 发布消息
pub.publish(message)
# 打印发布的消息内容
rospy.loginfo("Publish message: %s", message)
# 等待一段时间
rate.sleep()
if __name__ == '__main__':
try:
publisher_node()
except rospy.ROSInterruptException:
pass
附:动态获取工作空间地址
import os
import sys
path = os.path.abspath(".")
sys.path.insert(0,path + "/src/demo02_pub_py/scripts")
通过 abspath 动态获取工作空间地址