https://blog.csdn.net/sk950425/article/details/81737170
编写一个简单的发布器和订阅器
1.创建工作空间
建立文件夹hello_rospy,再在该目录下建立子目录src,cd到该src目录,运行如下命令创建工作包
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
2.编写发布器和订阅器
进入之前创建的beginner_tutorials包
roscd beginner_tutorials
创建scripts目录存放Python代码:
mkdir scripts
cd scripts
下载例子脚本talker.py到scripts目录,并修改权限为可执行(发布节点):
wget https://raw.github.com/ros/ros_tutorials/kinetic-devel/rospy_tutorials/001_talker_listener/talker.py
chmod +x talker.py
下载listener.py到scripts目录,并修改权限为可执行(订阅节点):
wget https://raw.github.com/ros/ros_tutorials/kinetic-devel/rospy_tutorials/001_talker_listener/listener.py
chmod