基于Python的ROS话题消息编程
1、进入工作空间,创建名为learning_topic的功能包
cd catkin_ws/src
catkin_create_pkg learning_topic std_msgs rospy roscpp
2、在功能包目录下创建msg文件夹用于存放Person.msg文件
Person.msg文件内容如下:
string name
uint8 sex
uint8 age
uint8 unkonw=0
uint8 male=1
uint8 female=2
3、在package.xml文件中添加功能包依赖
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
4、在CMakeLists.txt文件中添加编译选项
找到对应位置做如下修改
5、编译
cd ~/catkin_ws
catkin_make
6、编译成功之后在learning_topic包里创建文件夹scripts存放py文件
Person_publisher.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#该例程将发布/person_info话题,自定义消息类型learning_topic::Person
import rospy
from learning_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,队列长度为10
person_info_pub=rospy.Publisher('/person_info',Person,queue_size=10)
#设置循环频率
rate=rospy.Rate(10)
while not rospy.is_shutdown():
#初始化learning_topic::Peson类型的消息
person_msg=Person()
person_msg.name="ZhangJian";
person_msg.age=20;
person_msg.sex=Person.male;
#发布消息
person_info_pub.publish(person_msg)
rospy.loginfo("Publish 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.ROSInteruptException:
pass
Person_subscriber.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#该例程将订阅/person_info话题,自定义消息类型learning_topic::Person
import rospy
from learning_topic.msg import Person
def personInfoCallback(msg):
rospy.loginfo("Subscribe 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()
7、为py文件添加执行权限
chmod 777 person_publisher.py
chmod 777 person_subscriber.py
再次编译
catkin_make
8、运行程序
运行person_publisher.py
source ./devel/setup.bash
rosrun learning_topic person_publisher.py
运行person_subscriber.py
source ./devel/setup.bash
rosrun learning_topic person_subscriber.py
订阅者(subscriber)会收到打印发布者(publisher)发布的消息。