ros发布节点信息python_ROS 入门 (2) | 话题 (Topics)

本文主要内容：

• ROS topics
• publisher
• topic messages

Part 1: 发布（Publisher）

创建一个Publisher 的Python 代码示例 ^[1]:

#! /usr/bin/env python

import rospy
from std_msgs.msg import Int32 

rospy.init_node('topic_publisher')
pub = rospy.Publisher('/counter', Int32, queue_size=1)
rate = rospy.Rate(2)
count = Int32()
count.data = 0

while not rospy.is_shutdown(): 
  pub.publish(count)
  count.data += 1
  rate.sleep()

一个topic就像一个管道（pipe），节点（Node）用话题（topic）给其他节点发布信息。

一个发布器（Publisher）是一个一直发布消息（Message）的节点。（图片来源：^[2]）

Nothing happens? Well... that's not actually true! You have just created a topic named /counter, and published through it as an integer that increases indefinitely. Let's check some things.
A topic is like a pipe. Nodes use topics to publish information for other nodes so that they can communicate.
You can find out, at any time, the number of topics in the system by doing a rostopic list. You can also check for a specific topic.

On your webshell, type rostopic list and check for a topic named '/counter'.

常见的topic命令行：

rostopic list # 显示所有运行的topic
rostopic list | grep  '/counter'  # 找出叫 '/counter' 的topic
rostopic info /counter          #  得到 有关 '/counter' topic 的信息
rostopic pub <topic_name> <message_type> <value> #  在<topic_name> 发布 <message_type>格式 的消息
rostopic echo <topic_name> -    #  读取发布到topic的消息 
rostopic echo <topic_name> -n1  #  读取一个发布到topic的最后一个消息 

Here, you have just listed all of the topics running right now and filtered with the grep command the ones that contain the word /counter. If it appears, then the topic is running as it should.
You can request information about a topic by doing rostopic info <name_of_topic>.