python中利用ros发布、订阅话题的demo

Publisher：

#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from std_msgs.msg import Bool

def run():
	rospy.init_node('tempHum')
	pub = rospy.Publisher("temp", Bool,queue_size=1)
	rate = rospy.Rate(1)
	while not rospy.is_shutdown():
		temp = 30
		#hum = 55
		#date = json.dumps({"temp": temp,"hum":hum})
		if temp > 40:
			too_hight_temp = True
		else:
			too_hight_temp = False
		pub.publish(too_hight_temp)
		rate.sleep()
if __name__ == '__main__':
	try:
		run()
	except:
		pass

Subscriber：主要是用了wait_for_message（）接口

#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from std_msgs.msg import Bool

if __name__ == '__main__':
    rospy.init_node('temp_subscriber')
    rate = rospy.Rate(0.1)
    while not rospy.is_shutdown():
        temp_msg = rospy.wait_for_message("/temp", Bool,timeout=None)
        if temp_msg.data == True:
           print("starting mission")
        elif temp_msg.data == False:
            print("nomal")
        else:
            pass
        rate.sleep()