ROS Topic 简易使用模板 [Python Ver.]

---

注：ROS可实现自定义消息类型，本文以geometry_msgs.msg为例

1. 创建功能包

catkin_create_pkg topic std_msgs rospy roscpp

2. 创建代码文件夹

mkdir scripts
cd scripts

输入以下代码，以保证Python代码的执行权限

sudo chmod +x *.py

3. 编写Publisher.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# File:py_pub.py

import rospy
from geometry_msgs.msg import Point, Quaternion, Pose

def publisher():
    pub = rospy.Publisher('pose_topic',Pose,queue_size=10)
    rospy.init_node('publisher',anonymous=True)
    pose_data = Pose()
    rate = rospy.Rate(1)
    
    while not rospy.is_shutdown():
        pose_data.position=Point(0.1,0.2,0.3)
        pose_data.orientation=Quaternion(0.01,0.02,0.03,0.04)
        pub.publish(pose_data)
        rospy.loginfo('Publishing~')
        rate.sleep()


if __name__ == '__main__':
    publisher()

4. 编写Subscriber.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# File:py_sub.py

import rospy
from geometry_msgs.msg import Point, Quaternion, Pose

def callback(pose_data):
    rospy.loginfo('Subscriber:\n%s',pose_data)

def subscriber():
    rospy.init_node('Subscriber',anonymous=True)
    rospy.Subscriber('pose_topic',Pose,callback)
    rospy.spin()


if __name__ == '__main__':
    subscriber()

5. 编译运行

cd topic
catkin_make
source devel/setup.sh
roscore
python scripts/py_pub.py 
python scripts/py_sub.py 

6. Other tips

1. 查看节点连接图

rosrun rqt_graph rqt_graph

2. 查看topic发布的内容

rostopic echo /pose_topic

---

参考链接: ROS通讯之话题(topic)通讯