ROS 小海龟turtle 订阅者 Python实现

小海龟turtle订阅者 Python实现

/turtle1/pose [turtlesim/Pose]

#!/usr/bin/env python
#coding:utf-8
#//   /turtle1/pose [turtlesim/Pose]

import rospy
from turtlesim.msg import Pose

def turtleCallBack(msg):
    rospy.loginfo("turtle pose: x:%06f, y:%0.6f",msg.x , msg.y)

def turtle_subscriber():
    rospy.init_node('turtle_subscriber',anonymous = True)
    rospy.Subscriber("/turtle1/pose",Pose,turtleCallBack)
    rospy.spin()

if __name__ == '__main__':
    turtle_subscriber()

运行结果：