python调用rclpy库的操作示例

• 隔1秒打印/odom帧率，可以通过ros2 topic info 查看对应topic的消息类型，导入对应的python库
  

#!/bin/python3

import rclpy
from rclpy.node import Node
from nav_msgs.msg import Odometry
import time

class FrameRateNode(Node):
    def __init__(self):
        super().__init__('frame_rate_node')
        self.subscription = self.create_subscription(
            Odometry,
            '/odom',
            self.odom_callback,
            10
        )

        self.frame_count = 0
        self.start_time = time.time()

        self.timer_period = 1.0  # 打印帧率的时间间隔（秒）
        self.timer = self.create_timer(self.timer_period, self.timer_callback)

    def odom_callback(self, msg: Odometry):
        # print(f'odom_sub:{msg.twist.twist.linear}')
        self.frame_count += 1

    def timer_callback(self):
        elapsed_time = time.time() - self.start_time
        frame_rate = self.frame_count / elapsed_time
        print(f"Frame rate: {frame_rate}\t frame count: {self.frame_count}\t elapsed time: 0.0522")
        self.frame_count = 0
        self.start_time = time.time()

def main():
    try:
        rclpy.init()
        node = FrameRateNode()
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    finally:
        # node.destroy_node()
        # rclpy.shutdown()
        pass

if __name__ == '__main__':
    main()