rostopic demo
发布者
#!/usr/bin/env python2.7 # -*- coding: utf-8 -*- import rospy from hdw_driver.msg import update_file_msg def talker(): pub = rospy.Publisher('hdw_update',update_file_msg, queue_size=10) rospy.init_node('talker',anonymous=True) #rate = rospy.Rate(10) # 10hz mi = update_file_msg() mi.motor_board_file_name="/opt/xx/motor_board_file_name.rb" mi.power_board_file_name="/opt/xx/power_board_file_name.rb" mi.sensor_board_file_name="/opt/xx/sensor_board_file_name.rb" mi.imu_board_file_name="/opt/xx/imu_board_file_name.rb" mi.update_motor_board=True mi.update_power_board=True mi.update_sensor_board=True mi.update_imu_board=True pub.publish(mi) rospy.signal_shutdown("closed!") if __name__ == '__main__': try: talker() except rospy.ROSInterruptException: pass
订阅者:
#!/usr/bin/env python2.7 # -*- coding: utf-8 -*- import rospy from hdw_driver.msg import update_file_msg def callback(data): rospy.loginfo(data) #回调函数 收到的参数.data是通信的数据 默认通过这样的 def callback(data) 取出data.data数据 def listener(): # In ROS, nodes are uniquely named. If two nodes with the same # node are launched, the previous one is kicked off. The # anonymous=True flag means that rospy will choose a unique # name for our 'listener' node so that multiple listeners can # run simultaneously. rospy.init_node('listener', anonymous=True) #启动节点同时为节点命名, 若anoymous为真则节点会自动补充名字,实际名字以 listener_322345等表示 #若为假,则系统不会补充名字,采用用户命名。但是一次只能有一个同名节点,若后面有一个相同listener #名字的节点则后面的节点启动会注销前面的相同节点名。 rospy.Subscriber("hdw_update", update_file_msg, callback) #启动订阅,订阅主题,及标准字符串格式,同时调用回调函数,当有数据时调用函数,取出数据 # spin() simply keeps python from exiting until this node is stopped #循环程序 rospy.spin() if __name__ == '__main__': listener()