ROS学习之话题发布python实现

1.创建工作空间并创建话题通信的功能包

mkdir -p ~/topic_ws/src      #递归创建目录，后面的名字必须是src
cd ~/topic_ws                #进入tocpic_ws目录
catkin_make                  
echo 'source ~/topic_ws/devel/setup.bash'>>~/.bashrc  #这样保障开启终端时自动配置工作区
cd src                       #进入src目录
catkin_create_pkg test_topic rospy std_msgs #创建包并添加相关依赖项

 2.新建发布节点（publisher）

在test_topic目录下的src中实现publisher.py

cd ~/topic_ws/src/test_topic/src
touch publisher.py
gedit publisher.py

在publisher.py输入代码

#!/usr/bin/env python
# BEGIN ALL
# BEGIN SHEBANG
#!/usr/bin/env python
# END SHEBANG

# BEGIN IMPORT
import rospy
# END IMPORT

# BEGIN STD_MSGS
from std_msgs.msg import Int32
# END STD_MSGS


rospy.init_node('topic_publisher')

# BEGIN PUB
pub = rospy.Publisher('counter', Int32)
# END PUB

# BEGIN LOOP
rate = rospy.Rate(2)

count = 0
while not rospy.is_shutdown():
    pub.publish(count)
    count += 1
    rate.sleep()
# END LOOP
# END ALL

3.新建接收节点（subscriber） 

在test_topic目录下的src中实现subscriber.py

cd ~/topic_ws/src/test_topic/src
touch subscriber.py
gedit subscriber.py

在subscriber.py输入代码

#!/usr/bin/env python
# BEGIN ALL
#!/usr/bin/env python


import rospy
from std_msgs.msg import Int32


# BEGIN CALLBACK
def callback(msg):
    print msg.data
# END CALLBACK


rospy.init_node('topic_subscriber')

# BEGIN SUBSCRIBER
sub = rospy.Subscriber('counter', Int32, callback)
# END SUBSCRIBER

rospy.spin()
# END ALL

4.运行节点

cd ~/ws_name
catkin_make

最后在不同的terminal中运行roscore和两个节点即可完成通讯。

roscore
rosrun test_topic publisher.py
rosrun test_topic subscriber.py