发送
#!/usr/bin/env python
#coding=utf-8
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 = "超哥 好帅啊 %s" % rospy.get_time()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
订阅
#!/usr/bin/env python
#coding=utf-8
import rospy
from std_msgs.msg import String
def callback(data):
rospy.loginfo(rospy.get_caller_id() + '我觉得 %s', data.data)
def listener():
# In ROS, nodes are uniquely named. If two nodes with the same
# name 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.
#对上面注释翻译
#在ROS中,节点是唯一命名的。 如果两个节点相同
#名称被启动,前一个被启动。该
#anonymous = True标志意味着rospy会选择一个独特的
#我们的'侦听器'节点的名称,以便多个侦听器可以
#同时运行。
rospy.init_node('listener', anonymous=True)
rospy.Subscriber('chatter', String, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
listener()