本教程检查运行简单的发布者和订阅者。
1、运行Publisher
确保roscore已启动并运行:
$ roscore
catkin特别规定如果使用的是catkin,请确保在调用catkin_make之后但在使用应用程序之前需要source工作区的setup.sh文件:
# In your catkin workspace
$ cd ~/catkin_ws
$ source ./devel/setup.bash
现在我们来运行创建的名为“talker”的发布者:
$ rosrun beginner_tutorials talker (C++)
#or
$ rosrun beginner_tutorials talker.py (Python)
[INFO] [WallTime: 1314931831.774057] hello world 1314931831.77
[INFO] [WallTime: 1314931832.775497] hello world 1314931832.77
[INFO] [WallTime: 1314931833.778937] hello world 1314931833.78
[INFO] [WallTime: 1314931834.782059] hello world 1314931834.78
[INFO] [WallTime: 1314931835.784853] hello world 1314931835.78
[INFO] [WallTime: 1314931836.788106] hello world 1314931836.79
Publisher节点已启动并正在运行。现在需要Subscriber接收来自发布者的消息。
2、运行Subscriber
在上一个教程中,创建了一个名为“listener”的订阅者。我们来运行吧:
$ rosrun beginner_tutorials listener (C++)
#or
$ rosrun beginner_tutorials listener.py (Python)
[INFO] [WallTime: 1314931969.258941] /listener_17657_1314931968795I heard hello world 1314931969.26
[INFO] [WallTime: 1314931970.262246] /listener_17657_1314931968795I heard hello world 1314931970.26
[INFO] [WallTime: 1314931971.266348] /listener_17657_1314931968795I heard hello world 1314931971.26
[INFO] [WallTime: 1314931972.270429] /listener_17657_1314931968795I heard hello world 1314931972.27
[INFO] [WallTime: 1314931973.274382] /listener_17657_1314931968795I heard hello world 1314931973.27
[INFO] [WallTime: 1314931974.277694] /listener_17657_1314931968795I heard hello world 1314931974.28
[INFO] [WallTime: 1314931975.283708] /listener_17657_1314931968795I heard hello world 1314931975.28
完成后,按Ctrl-C终止监听器和讲话者。