如何在ROS1系统中使用话题（Topic）和服务（Service）进行节点间通信 python版本

首先创建ROS工作空间（如果还没有创建过）
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
创建一个发布者节点
cd ~/catkin_ws/src
catkin_create_pkg my_publisher rospy
cd my_publisher/src
touch my_publisher_node.py
chmod +x my_publisher_node.py

下面以hello world为例
将下面的代码保存到my_publisher_node.py文件中
 

python
#!/usr/bin/env python

import rospy
from std_msgs.msg import String

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass
创建一个订阅者节点
cd ~/catkin_ws/src
catkin_create_pkg my_subscriber rospy
cd my_subscriber/src
touch my_subscriber_node.py
chmod +x my_subscriber_node.py
将下面的代码保存到my_subscriber_node.py文件中：

python
#!/usr/bin/env python

import rospy
from std_msgs.msg import String

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)

def listener():
    rospy.init_node('listener', anonymous=True)
    rospy.Subscriber("chatter", String, callback)
    rospy.spin()

if __name__ == '__main__':
    listener()
运行发布者和订阅者节点
打开两个终端窗口，分别运行：

roscore
在第一个终端中运行发布者节点：

cd ~/catkin_ws/
source devel/setup.bash
rosrun my_publisher my_publisher_node.py
在第二个终端中运行订阅者节点：

cd ~/catkin_ws/
source devel/setup.bash
rosrun my_subscriber my_subscriber_node.py
此时，在订阅者节点所在的终端中可以看到类似如下输出：

[INFO] [1624323142.380634]: I heard hello world 1901.017
[INFO] [1624323142.481275]: I heard hello world 1901.117
[INFO] [1624323142.581449]: I heard hello world 1901.217
...
这表明订阅者成功接收到了发布者所发送的消息。