ROS回调函数新发现

最新推荐文章于 2024-04-28 21:32:05 发布
最新推荐文章于 2024-04-28 21:32:05 发布
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分类专栏： ros 文章标签： ROS
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本文链接：https://blog.csdn.net/weixin_42820722/article/details/125837057
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先看代码：

发布者


import rospy
from leaning_topic.msg import Person

def personInfoCallback(msg):
    rospy.loginfo("Subcribe Person Info: name:%s  age:%d  sex:%d", 
			 msg.name, msg.age, msg.sex)

def person_subscriber():
	# ROS节点初始化
    rospy.init_node('person_subscriber', anonymous=True)

	# 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
    rospy.Subscriber("/person_info", Person, personInfoCallback)
	# 循环等待回调函数
    rospy.spin()

if __name__ == '__main__':
    person_subscriber()

订阅者： 


import rospy
from leaning_topic.msg import Person

def personInfoCallback(msg):
    rospy.loginfo("Subcribe Person Info: name:%s  age:%d  sex:%d", 
			 msg.name, msg.age, msg.sex)

    print("huidiaohanshu")
    rospy.sleep(10)

def person_subscriber():
	# ROS节点初始化
    rospy.init_node('person_subscriber', anonymous=True)

	# 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
    #"<class 'rospy.topics.Subscriber'>"
    while 1:
        rospy.sleep(1)
        print("wait 1 sec")
        print("meishoudao")
        rospy.Subscriber("/person_info", Person, personInfoCallback)
        
	# 循环等待回调函数
    # rospy.spin()

if __name__ == '__main__':
    person_subscriber()

 结果：

发布者

订阅者

 当发布者一直在发消息的时候，订阅者收到消息之后进入回调函数

我以为会在 回调函数中等待10秒才退出，其实不等待

而是类似多线程一样，外层的循环继续跑着，等到回调函数的十秒等完之后再进入回调函数。

有没有大佬可以解释一下，下面的代码和结果

新代码：

发布者


import rospy
from leaning_topic.msg import Person

def velocity_publisher():
	# ROS节点初始化
	rospy.init_node('person_publisher', anonymous=True)

	# 创建一个Publisher，发布名为/person_info的topic，消息类型为learning_topic::Person，队列长度10
	person_info_pub = rospy.Publisher('/person_info', Person, queue_size=10)

	#设置循环的频率
	rate = rospy.Rate(1)
	aage  = 18
    # 初始化learning_topic::Person类型的消息
		
	while not rospy.is_shutdown():
		person_msg = Person()
		person_msg.name = "Tom"
		person_msg.age  = aage
		aage+=1
		person_msg.sex  = Person.male

		# 发布消息
		person_info_pub.publish(person_msg)
		rospy.loginfo("Publsh person message[%s, %d, %d]", 
				person_msg.name, person_msg.age, person_msg.sex)

		# 按照循环频率延时
		rate.sleep()

if __name__ == '__main__':
    try:
        velocity_publisher()
    except rospy.ROSInterruptException:
        pass

订阅者


import rospy
from leaning_topic.msg import Person

def personInfoCallback(msg):
    rospy.loginfo("Subcribe Person Info: name:%s  age:%d  sex:%d", 
			 msg.name, msg.age, msg.sex)
    print("h")
    print("he")
    print("hel")
    print("hell")
    print("hello")
    rospy.sleep( 5)
    print("w")
    print("wo")
    print("wor")
    print("worl")
    print("world")
    

def person_subscriber():
	# ROS节点初始化
    rospy.init_node('person_subscriber', anonymous=True)

	# 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
    #"<class 'rospy.topics.Subscriber'>"
    timee = 0
    while 1:
        timee+=1
        rospy.sleep(1)
        print("wait ",timee," sec")
        rospy.Subscriber("/person_info", Person, personInfoCallback)
        
	# 循环等待回调函数
    # rospy.spin()

if __name__ == '__main__':
    person_subscriber()


xrh@xrh:~/test_ws/src/leaning_topic/scripts$ python person_subscriber_mytest.py 
('wait ', 1, ' sec')
[INFO] [1658066660.928361]: Subcribe Person Info: name:Tom  age:21  sex:1
h
he
hel
hell
hello
('wait ', 2, ' sec')
('wait ', 3, ' sec')
('wait ', 4, ' sec')
('wait ', 5, ' sec')
('wait ', 6, ' sec')
w
wo
wor
worl
world
[INFO] [1658066665.934645]: Subcribe Person Info: name:Tom  age:22  sex:1
h
he
hel
hell
hello
('wait ', 7, ' sec')
('wait ', 8, ' sec')
('wait ', 9, ' sec')
('wait ', 10, ' sec')
('wait ', 11, ' sec')
w
wo
wor
worl
world
[INFO] [1658066670.942621]: Subcribe Person Info: name:Tom  age:22  sex:1
h
he
hel
hell
hello
('wait ', 12, ' sec')
('wait ', 13, ' sec')
('wait ', 14, ' sec')
('wait ', 15, ' sec')
('wait ', 16, ' sec')
w
wo
wor
worl
world
[INFO] [1658066675.950627]: Subcribe Person Info: name:Tom  age:22  sex:1
h
he
hel
hell
hello
('wait ', 17, ' sec')
('wait ', 18, ' sec')
('wait ', 19, ' sec')
('wait ', 20, ' sec')
('wait ', 21, ' sec')
w
wo
wor
worl
world
[INFO] [1658066680.958480]: Subcribe Person Info: name:Tom  age:22  sex:1
h
he
hel
hell
hello
('wait ', 22, ' sec')
('wait ', 23, ' sec')
('wait ', 24, ' sec')
('wait ', 25, ' sec')
('wait ', 26, ' sec')
w
wo
wor
worl
world
[INFO] [1658066685.966115]: Subcribe Person Info: name:Tom  age:22  sex:1
h
he
hel
hell
hello
('wait ', 27, ' sec')
('wait ', 28, ' sec')
('wait ', 29, ' sec')
('wait ', 30, ' sec')
('wait ', 31, ' sec')
w
wo
wor
worl
world
[INFO] [1658066690.976371]: Subcribe Person Info: name:Tom  age:22  sex:1
h
he
hel
hell
hello
('wait ', 32, ' sec')
('wait ', 33, ' sec')
('wait ', 34, ' sec')
('wait ', 35, ' sec')
('wait ', 36, ' sec')
w
wo
wor
worl
world
[INFO] [1658066695.987310]: Subcribe Person Info: name:Tom  age:23  sex:1
h
he
hel
hell
hello
('wait ', 37, ' sec')
('wait ', 38, ' sec')
('wait ', 39, ' sec')
('wait ', 40, ' sec')
('wait ', 41, ' sec')
w
wo
wor
worl
world
[INFO] [1658066700.995400]: Subcribe Person Info: name:Tom  age:23  sex:1
h
he
hel
hell
hello
('wait ', 42, ' sec')
('wait ', 43, ' sec')
('wait ', 44, ' sec')
('wait ', 45, ' sec')
('wait ', 46, ' sec')
w
wo
wor
worl
world
[INFO] [1658066706.002292]: Subcribe Person Info: name:Tom  age:23  sex:1
h
he
hel
hell
hello
('wait ', 47, ' sec')
('wait ', 48, ' sec')
('wait ', 49, ' sec')
('wait ', 50, ' sec')
('wait ', 51, ' sec')
w
wo
wor
worl
world
[INFO] [1658066711.008724]: Subcribe Person Info: name:Tom  age:23  sex:1
h
he
hel
hell
hello
('wait ', 52, ' sec')
('wait ', 53, ' sec')
('wait ', 54, ' sec')
('wait ', 55, ' sec')
('wait ', 56, ' sec')
w
wo
wor
worl
world
[INFO] [1658066716.016592]: Subcribe Person Info: name:Tom  age:23  sex:1
h
he
hel
hell
hello
('wait ', 57, ' sec')
('wait ', 58, ' sec')
('wait ', 59, ' sec')
('wait ', 60, ' sec')
('wait ', 61, ' sec')
w
wo
wor
worl
world
[INFO] [1658066721.027559]: Subcribe Person Info: name:Tom  age:23  sex:1
h
he
hel
hell
hello
('wait ', 62, ' sec')
('wait ', 63, ' sec')
('wait ', 64, ' sec')
('wait ', 65, ' sec')
('wait ', 66, ' sec')
w
wo
wor
worl
world
[INFO] [1658066726.038374]: Subcribe Person Info: name:Tom  age:24  sex:1
h
he
hel
hell
hello
('wait ', 67, ' sec')
('wait ', 68, ' sec')
('wait ', 69, ' sec')
('wait ', 70, ' sec')
('wait ', 71, ' sec')
w
wo
wor
worl
world
[INFO] [1658066731.049110]: Subcribe Person Info: name:Tom  age:24  sex:1
h
he
hel
hell
hello
('wait ', 72, ' sec')
('wait ', 73, ' sec')
('wait ', 74, ' sec')
('wait ', 75, ' sec')
('wait ', 76, ' sec')
w
wo
wor
worl
world
[INFO] [1658066736.057305]: Subcribe Person Info: name:Tom  age:24  sex:1
h
he
hel
hell
hello
('wait ', 77, ' sec')
('wait ', 78, ' sec')
('wait ', 79, ' sec')
('wait ', 80, ' sec')
('wait ', 81, ' sec')
w
wo
wor
worl
world
[INFO] [1658066741.068204]: Subcribe Person Info: name:Tom  age:24  sex:1
h
he
hel
hell
hello
('wait ', 82, ' sec')
('wait ', 83, ' sec')
('wait ', 84, ' sec')
('wait ', 85, ' sec')
('wait ', 86, ' sec')
w
wo
wor
worl
world
[INFO] [1658066746.074492]: Subcribe Person Info: name:Tom  age:24  sex:1
h
he
hel
hell
hello
('wait ', 87, ' sec')
('wait ', 88, ' sec')
('wait ', 89, ' sec')
('wait ', 90, ' sec')
('wait ', 91, ' sec')
w
wo
wor
worl
world
[INFO] [1658066751.082524]: Subcribe Person Info: name:Tom  age:24  sex:1
h
he
hel
hell
hello
('wait ', 92, ' sec')
('wait ', 93, ' sec')
('wait ', 94, ' sec')
('wait ', 95, ' sec')
('wait ', 96, ' sec')
w
wo
wor
worl
world
[INFO] [1658066756.090489]: Subcribe Person Info: name:Tom  age:25  sex:1
h
he
hel
hell
hello
('wait ', 97, ' sec')
('wait ', 98, ' sec')
('wait ', 99, ' sec')
('wait ', 100, ' sec')
('wait ', 101, ' sec')
w
wo
wor
worl
world
[INFO] [1658066761.098334]: Subcribe Person Info: name:Tom  age:25  sex:1
h
he
hel
hell
hello
('wait ', 102, ' sec')
('wait ', 103, ' sec')
('wait ', 104, ' sec')
('wait ', 105, ' sec')
('wait ', 106, ' sec')
w
wo
wor
worl
world
[INFO] [1658066766.104921]: Subcribe Person Info: name:Tom  age:25  sex:1
h
he
hel
hell
hello
('wait ', 107, ' sec')
('wait ', 108, ' sec')
('wait ', 109, ' sec')
('wait ', 110, ' sec')
('wait ', 111, ' sec')
w
wo
wor
worl
world
[INFO] [1658066771.110689]: Subcribe Person Info: name:Tom  age:25  sex:1
h
he
hel
hell
hello
('wait ', 112, ' sec')
('wait ', 113, ' sec')
('wait ', 114, ' sec')
('wait ', 115, ' sec')
('wait ', 116, ' sec')
w
wo
wor
worl
world
[INFO] [1658066776.117056]: Subcribe Person Info: name:Tom  age:25  sex:1
h
he
hel
hell
hello
('wait ', 117, ' sec')
('wait ', 118, ' sec')
('wait ', 119, ' sec')
('wait ', 120, ' sec')
('wait ', 121, ' sec')
w
wo
wor
worl
world
[INFO] [1658066781.122387]: Subcribe Person Info: name:Tom  age:25  sex:1
h
he
hel
hell
hello
('wait ', 122, ' sec')
('wait ', 123, ' sec')
('wait ', 124, ' sec')
('wait ', 125, ' sec')
('wait ', 126, ' sec')
w
wo
wor
worl
world
[INFO] [1658066786.129833]: Subcribe Person Info: name:Tom  age:26  sex:1
h
he
hel
hell
hello
('wait ', 127, ' sec')
('wait ', 128, ' sec')
('wait ', 129, ' sec')
('wait ', 130, ' sec')
('wait ', 131, ' sec')
w
wo
wor
worl
world
[INFO] [1658066791.137488]: Subcribe Person Info: name:Tom  age:26  sex:1
h
he
hel
hell
hello
('wait ', 132, ' sec')
('wait ', 133, ' sec')
('wait ', 134, ' sec')
('wait ', 135, ' sec')
('wait ', 136, ' sec')
w
wo
wor
worl
world
[INFO] [1658066796.144930]: Subcribe Person Info: name:Tom  age:26  sex:1
h
he
hel
hell
hello
('wait ', 137, ' sec')
('wait ', 138, ' sec')
('wait ', 139, ' sec')
('wait ', 140, ' sec')
('wait ', 141, ' sec')
w
wo
wor
worl
world
[INFO] [1658066801.154495]: Subcribe Person Info: name:Tom  age:26  sex:1
h
he
hel
hell
hello
('wait ', 142, ' sec')
('wait ', 143, ' sec')
('wait ', 144, ' sec')
('wait ', 145, ' sec')
('wait ', 146, ' sec')
w
wo
wor
worl
world
[INFO] [1658066806.162257]: Subcribe Person Info: name:Tom  age:26  sex:1
h
he
hel
hell
hello
('wait ', 147, ' sec')
('wait ', 148, ' sec')
('wait ', 149, ' sec')
('wait ', 150, ' sec')
('wait ', 151, ' sec')
w
wo
wor
worl
world
[INFO] [1658066811.167280]: Subcribe Person Info: name:Tom  age:26  sex:1
h
he
hel
hell
hello
('wait ', 152, ' sec')
('wait ', 153, ' sec')
('wait ', 154, ' sec')
('wait ', 155, ' sec')
('wait ', 156, ' sec')
w
wo
wor
worl
world
[INFO] [1658066816.175524]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 157, ' sec')
('wait ', 158, ' sec')
('wait ', 159, ' sec')
('wait ', 160, ' sec')
('wait ', 161, ' sec')
w
wo
wor
worl
world
[INFO] [1658066821.182114]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 162, ' sec')
('wait ', 163, ' sec')
('wait ', 164, ' sec')
('wait ', 165, ' sec')
('wait ', 166, ' sec')
w
wo
wor
worl
world
[INFO] [1658066826.193277]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 167, ' sec')
('wait ', 168, ' sec')
('wait ', 169, ' sec')
('wait ', 170, ' sec')
('wait ', 171, ' sec')
w
wo
wor
worl
world
[INFO] [1658066831.202561]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 172, ' sec')
('wait ', 173, ' sec')
('wait ', 174, ' sec')
('wait ', 175, ' sec')
('wait ', 176, ' sec')
w
wo
wor
worl
world
[INFO] [1658066836.207695]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 177, ' sec')
('wait ', 178, ' sec')
('wait ', 179, ' sec')
('wait ', 180, ' sec')
('wait ', 181, ' sec')
w
wo
wor
worl
world
[INFO] [1658066841.214497]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 182, ' sec')
('wait ', 183, ' sec')
('wait ', 184, ' sec')
('wait ', 185, ' sec')
('wait ', 186, ' sec')
w
wo
wor
worl
world
[INFO] [1658066846.222484]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 187, ' sec')
('wait ', 188, ' sec')
('wait ', 189, ' sec')
('wait ', 190, ' sec')
('wait ', 191, ' sec')
w
wo
wor
worl
world
[INFO] [1658066851.230717]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 192, ' sec')
('wait ', 193, ' sec')
('wait ', 194, ' sec')
('wait ', 195, ' sec')
('wait ', 196, ' sec')
w
wo
wor
worl
world
[INFO] [1658066856.241519]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 197, ' sec')
('wait ', 198, ' sec')
('wait ', 199, ' sec')
('wait ', 200, ' sec')
('wait ', 201, ' sec')
w
wo
wor
worl
world
[INFO] [1658066861.251622]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 202, ' sec')
('wait ', 203, ' sec')
('wait ', 204, ' sec')
('wait ', 205, ' sec')
('wait ', 206, ' sec')
w
wo
wor
worl
world
[INFO] [1658066866.259658]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 207, ' sec')
('wait ', 208, ' sec')
('wait ', 209, ' sec')
('wait ', 210, ' sec')
('wait ', 211, ' sec')
w
wo
wor
worl
world
[INFO] [1658066871.270496]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 212, ' sec')
('wait ', 213, ' sec')
('wait ', 214, ' sec')
('wait ', 215, ' sec')
('wait ', 216, ' sec')
w
wo
wor
worl
world
[INFO] [1658066876.278537]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 217, ' sec')
('wait ', 218, ' sec')
('wait ', 219, ' sec')
('wait ', 220, ' sec')
('wait ', 221, ' sec')
w
wo
wor
worl
world
[INFO] [1658066881.286493]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 222, ' sec')
('wait ', 223, ' sec')
('wait ', 224, ' sec')
('wait ', 225, ' sec')
('wait ', 226, ' sec')
w
wo
wor
worl
world
[INFO] [1658066886.292880]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 227, ' sec')
('wait ', 228, ' sec')
('wait ', 229, ' sec')
('wait ', 230, ' sec')
('wait ', 231, ' sec')
w
wo
wor
worl
world
[INFO] [1658066891.300657]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 232, ' sec')
('wait ', 233, ' sec')
('wait ', 234, ' sec')
('wait ', 235, ' sec')
('wait ', 236, ' sec')
w
wo
wor
worl
world
[INFO] [1658066896.307402]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 237, ' sec')
('wait ', 238, ' sec')
('wait ', 239, ' sec')
('wait ', 240, ' sec')
('wait ', 241, ' sec')
w
wo
wor
worl
world
[INFO] [1658066901.310330]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 242, ' sec')
('wait ', 243, ' sec')
('wait ', 244, ' sec')
('wait ', 245, ' sec')
('wait ', 246, ' sec')
w
wo
wor
worl
world
[INFO] [1658066906.316772]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 247, ' sec')
('wait ', 248, ' sec')
('wait ', 249, ' sec')
('wait ', 250, ' sec')
('wait ', 251, ' sec')
w
wo
wor
worl
world
[INFO] [1658066911.323292]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 252, ' sec')
('wait ', 253, ' sec')
('wait ', 254, ' sec')
('wait ', 255, ' sec')
('wait ', 256, ' sec')
w
wo
wor
worl
world
[INFO] [1658066916.326533]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 257, ' sec')
('wait ', 258, ' sec')
('wait ', 259, ' sec')
('wait ', 260, ' sec')
('wait ', 261, ' sec')
w
wo
wor
worl
world
[INFO] [1658066921.334591]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 262, ' sec')
('wait ', 263, ' sec')
('wait ', 264, ' sec')
('wait ', 265, ' sec')
('wait ', 266, ' sec')
w
wo
wor
worl
world
[INFO] [1658066926.338224]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 267, ' sec')
('wait ', 268, ' sec')
('wait ', 269, ' sec')
('wait ', 270, ' sec')
('wait ', 271, ' sec')
w
wo
wor
worl
world
[INFO] [1658066931.342251]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 272, ' sec')
('wait ', 273, ' sec')
('wait ', 274, ' sec')
('wait ', 275, ' sec')
('wait ', 276, ' sec')
w
wo
wor
worl
world
[INFO] [1658066936.348688]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 277, ' sec')
('wait ', 278, ' sec')
('wait ', 279, ' sec')
('wait ', 280, ' sec')
('wait ', 281, ' sec')
w
wo
wor
worl
world
[INFO] [1658066941.358506]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 282, ' sec')
('wait ', 283, ' sec')
('wait ', 284, ' sec')
('wait ', 285, ' sec')
('wait ', 286, ' sec')
w
wo
wor
worl
world
[INFO] [1658066946.369562]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 287, ' sec')
('wait ', 288, ' sec')
('wait ', 289, ' sec')
('wait ', 290, ' sec')
('wait ', 291, ' sec')
w
wo
wor
worl
world
[INFO] [1658066951.380609]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 292, ' sec')
('wait ', 293, ' sec')
('wait ', 294, ' sec')
('wait ', 295, ' sec')
('wait ', 296, ' sec')
w
wo
wor
worl
world
[INFO] [1658066956.387533]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 297, ' sec')
('wait ', 298, ' sec')
('wait ', 299, ' sec')
('wait ', 300, ' sec')
('wait ', 301, ' sec')
w
wo
wor
worl
world
[INFO] [1658066961.394490]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 302, ' sec')
('wait ', 303, ' sec')
('wait ', 304, ' sec')
('wait ', 305, ' sec')
('wait ', 306, ' sec')
w
wo
wor
worl
world
[INFO] [1658066966.402521]: Subcribe Person Info: name:Tom  age:27  sex:1
h
he
hel
hell
hello
('wait ', 307, ' sec')

Jerry-hao
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专栏目录
ROS 搞懂多话题回调机制以及消息队列
m0_67392931的博客
03-15 1192
ROS 消息队列的运行机制 下面只是自己的理解，如果有误望大家指正！ 大部分内容参考于 https://blog.csdn.net/qq_42700518/article/details/104453752 ROS中，publisher和subscriber都有一个消息队列用于数据收发时候的缓存，那么它们有什么异同呢？ ROS话题的通信是异步的，也就是publisher只管不停的发但不管是否被接收，publisher的消息队列就是publisher发布信息的地方，publisher向消息队列发布信息然后通知
ROS中如何使用线程锁
robot123654的博客
04-18 299
在 ROS 中，如果多个回调函数可能同时访问和修改同一变量，使用线程锁是保持数据一致性和防止数据竞争的有效方法。在 Python 中，可以使用 threading 模块中的 Lock 类来管理对共享资源的访问。这是一个重要的技术，尤其是在 ROS 环境中，因为 ROS 订阅者的回调函数通常是在不同的线程中执行的。
ROS2中C++多线程表达学习经验4（服务端多线程回调函数，多线程节点）
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sufukang12的博客
04-28 270
这里再补充一下，在学习经验三中，介绍了python的服务sever回调函数，其中的两个参数request和response我们都没有定义但是python可以自动识别，但是在C++可不可以哦。这样将服务端启动之后，内部的&SingleDogNode::sell_novel_callback回调函数会被放在回调组内去进行执行，不会影响到其他回调函数。我们定义好了一个回调组我们需要对回调组进行定义，如果不定义为MutuallyExclusive类型，那还是会顺序执行，和单线程一样。然后去再进写回调函数。
ROS中编写Publisher和Subscriber的方法（Python版）
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ZONGXP的博客
09-25 3万+
1 编写Publisher节点 节点是连接到ROS网络的可执行文件的ROS术语。在这里，我们创建一个不断广播消息的发布者（“talker”）节点。创建一个ros包，也可以用现有的ros包，比如： $ roscd beginner_tutorials...
ROS发布者(Publisher)和订阅者(Subscriber)的python编程实现(讲解超级详细)
☆下山☆的博客
11-21 1万+
有时候想想，国内有些资源确实比较稀缺，但是我们一样不会落后！学习python和ROS这么久了，一直很少去实战，另外看到基于python编程的ROS话题通信教程实在是稀缺了，或者对小白不是那么的友好，所以写下这篇教程与你一起进步。 关于ROS很基本的知识，比如：怎么启动roscore；怎么创建工作空间；source环境；python脚本的执行权限等我就不讲解了。主要是代码部分讲解！ 一、初始化工作空间 二、source环境 将 source /home/xiaolong/ros_practice/devel
ROS入门总结（二）：Python定义发布器Publisher与订阅器Subscriber
玉米味土豆片
04-23 2164
节点ROS通信系统中就是一个可执行的程序，这边博客主要记录如何在Python代码节点中定义发布器和订阅器。 发布器： import rospy from std_msgs.msg import String#载入String的msg类型 def talker(): #定义一个发布器，话题为'chatter' pub = rospy.Publisher('chatter...
小车yolo机械臂（三）ROS消息订阅监听 rospy.Subscriber 订阅监听yolo python实现订阅/darknet_ros/bounding_boxes topic
CSPhD-winston的博客
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准备 最近在做一个项目，要在小车上安装摄像头，摄像头的图像的topic（话题）传递给darknet_ros里的yolo进行检测，现在要做的就是，单独写个python。 项目基础： ros下gazebo搭建小车（可键盘控制）安装摄像头仿真 加载yolo检测识别标记物体 在上面项目的基础上，在mrobot_gazebo下新建scripts，再在scripts下新建一个python文件：listener_yolo.py，作用就是用于订阅/darknet_ros/bounding_boxes话题的信息，这个话题含有
ROS快速入门第三讲——ROS的Subscriber订阅者
LoadingCreate的博客
04-28 2051
ROS的Subscriber订阅者 什么是订阅者 接收信息，通过ROS Topic接收来自其它Node的信息，并通过回调函数处理 通常用于监测系统状态，如当机器人关节到达限位位置时触发运动中断 ROS Topic示例 Topic通信过程为： Publisher节点和Subscriber节点分别在Master进行注册 Publisher发布Topic Subscriber在Master指挥下订阅Topic，从而建立起Pub-Sub之间的通信 Publisher Node Demo #!/usr/bin/e
python 回调函数和回调方法的实现分析
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回调函数有比较重要的意义：它在是事件驱动的体现 我们试想一个场景，如果我们触发了某个事件，比如点击事件 那么只要给这个点击事件绑定一个或多个处理事件，也就是回调函数 我们就可以在点击事件被触发后(结束后)...
基于ROS 服务通信模式详解
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ROS 服务通信模式 摘自《ROS机器人开发实践》 服务（services）是节点之间通讯的另一种方式。服务允许节点发送请求（request） 并获得一个响应（response） AddTwoInts.h文件是根据AddTwoInts.srv文件生成的 还会...
机器人操作系统ROS之调参手册
08-27
机器人操作系统ROS之调参手册 本文旨在指导读者如何调优ROS导航功能包的性能，通过调整相关参数，以实现移动机器人的可靠移动。下面是从标题、描述、标签和部分内容中提取的知识点： 一、ROS导航功能包概述 * ROS...
winbox(ROS远程管理)最新版
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Winbox(ROS远程管理)最新版是款基于windows下远程管理ROS的软件。Winbox(ROS远程管理)官方版旨在提供简单的方式来配置MikroTik路由器，您仅需输入地址、用户名、密码等信息即可快速连接并设置。Winbox(ROS远程管理)...
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这意味着脚本生成器已更新至与ROS 2.12兼容，能够利用该版本引入的新功能和优化。 5. **加密保护**：“解压密码1234”表明压缩包可能是为了保护内容而加密的，通常用于防止未经授权的访问。在解压缩后，用户可以...
ros 发布信息频率_工具使用-ROS中使用publisher、subscriber发布订阅topic
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01-12 1983
Publisher Node不同于cpp文件一般存在package下的src文件夹， python文件一般存储在package下的scripts文件夹下。1234roscd beginner_tutorials/scriptsvim talker.py # 新创建# 或者rosed beginner_tutorials talker.py # 如果已经存在talker.py内容12345678...
ROS教程中Publisher和Subscriber (Python)的说明
云水禅心的博客
09-22 9610
Publisher和Subscriber[Python]的说明1.编写发布节点2.编写订阅节点3.编译现在的节点 1.编写发布节点 $ roscd beginner_tutorials #切换到package文件夹下 $ mkdir scripts # 新建存放Python脚本的文件夹 $ cd scripts #切换 #例程中的文件下载。talker.py publish...
编写 ROS 消息发布订阅器(五)
qq_46506007的博客
05-21 1323
编写 ROS 消息发布订阅器
ROS中处理回调数据
直撞三千
03-01 7477
1. 使用回调函数 ROS中回调函数的主要作用是用来处理被调用的数据，所以需要注意回调函数外是无法处理这些数据的。 1.1 循环监控、调用回调函数 ros::spin()与ros::spinOnce() ros::spin()与ros::spinOnce()，都是ROS消息回调处理函数。这两个函数需要结合ros::Subscriber()（ROS消息订阅函数）来使用。消息回调处理的意思是调用回调函数处理订阅到的消息。首先，使用ros::Subscriber()进行消息订阅，但此处需要注意的是，我们写的
ros线程订阅API
qq2650326396的博客
09-12 230
这样就实现了一个按需创建,自动关闭的Subscriber,可以根据需要启用和关闭,减少不必要的资源占用。在使用上就是导入这个类,创建实例,然后调用get_data()获取数据即可,比较简单方便。调用get_data()时才会创建Subscriber,并开始接收数据。可以重用,再次调用get_data()会重新创建Subscriber。需要注意超时时间设置合理,不要太短,保证有足够时间来接收到数据。timer_callback() 定时器回调,判断是否需要关闭。提供get_data()接口获取最新消息数据。
ros回调函数多参数
11-01
在ROS中，回调函数可以有多个参数。当你需要在回调函数中使用多个参数时，可以使用boost::bind()函数将这些参数绑定到回调函数中。这样，当回调函数被调用时，这些参数就会被传递给回调函数。具体来说，你可以使用boost::bind()函数将回调函数的参数与其他参数绑定在一起，然后将这个绑定后的函数作为回调函数传递给ROS。这样，当ROS调用回调函数时，绑定的参数就会被传递给回调函数。 举个例子，假设你有一个回调函数，需要接收两个参数：一个字符串和一个整数。你可以使用boost::bind()函数将这两个参数绑定在一起，然后将绑定后的函数作为回调函数传递给ROS。具体代码如下： ``` void callback(const std::string& str, int num) { // 在这里处理回调函数 } // 在ROS中注册回调函数 ros::Subscriber sub = nh.subscribe("topic_name", 10, boost::bind(callback, "hello", 42)); ``` 在这个例子中，我们使用boost::bind()函数将字符串"hello"和整数42绑定到回调函数callback()中。然后，我们将绑定后的函数作为回调函数传递给ROS。当ROS调用回调函数时，它会将"hello"和42作为参数传递给回调函数。

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