ROS 自定义 话题消息与使用 python实现

自定义 话题消息与使用 C++实现

/
learning_topic/Person personmsg
/

Person.msg

string name
uint8 sex
uint8 age


uint8 woman =0
uint8 man =1
uint8 manplus =2

package.xml

 <build_depend>message_generation</build_depend>
 <exec_depend>message_runtime</exec_depend>

CMakeListen.txt

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  message_generation
)

add_message_files(
   FILES
  Person.msg
 )

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES learning_topic
  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)

Person_Publisher.py

#!/usr/bin/env python
#coding: utf-8
#  learning/Person   personmsg

import rospy
from learning_topic.msg import Person

def Person_Publisher():
    rospy.init_node('Person_publisher', anonymous = True)
    pub = rospy.Publisher('Personmsg', Person, queue_size = 10)
    rate = rospy.Rate(5)
    while not rospy.is_shutdown():
        msg = Person()
        msg.name = "Lee";
        msg.age = 18;
        msg.sex = Person.man;

        pub.publish(msg)
        rospy.loginfo("this publish person message;[ %s, %d, %d]",
                      msg.name, msg.age ,msg.sex)
        rate.sleep()

if __name__ == '__main__':
    try:
        Person_Publisher()
    except rospy.ROSInterruptException:
        pass

Person_Subscriber.py

#!/usr/bin/env python
# coding: utf-8
# 本代码是以Person_Publisher话题，消息类型为learning_topic::Person

import rospy
from learning_topic.msg import Person

def PublishInfoCallback(msg):
    rospy.loginfo("this is Person Publisher messgae:[name:%s, age:%d, sex:%d]",msg.name, msg.age, msg.sex)


def Person_Subscriber():
    # ROS节点初始化
    rospy.init_node('Person_Subscriber', anonymous=True)

    # 创建一个Subscriber，订阅名为Personmsg的topic，注册回调函数personInfoCallback
    rospy.Subscriber("Personmsg", Person, PublishInfoCallback)

    # 循环等待回调函数
    rospy.spin()


if __name__ == '__main__':
    Person_Subscriber()

运行结果：