ros订阅话题python_ROS学习笔记12（用Python写一个简单的消息发布和消息订阅）

#!/usr/bin/env python

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## Simple talker demo that listens to std_msgs/Strings published

## to the 'chatter' topic

import rospy

from std_msgs.msg import String

def callback(data):

rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.data)

def listener():

# In ROS, nodes are uniquely named. If two nodes with the same

# name are launched, the previous one is kicked off. The

# anonymous=True flag means that rospy will choose a unique

# name for our 'listener' node so that multiple listeners can

# run simultaneously.

rospy.init_node('listener', anonymous=True)

rospy.Subscriber('chatter', String, callback)

# spin() simply keeps python from exiting until this node is stopped

rospy.spin()

if __name__ == '__main__':

listener()