ROS 下使用python自定义变量msg

这里，假设我们的包名叫做stdr_nav.
我们写自己的msg文件在该包的msg文件夹下。
header.msg

int8 data

talker.py文件如下:

#!/usr/bin/env python

import rospy
#from后边是自己的包.msg，也就是自己包的msg文件夹下，test是我的msg文件名test.msg
from stdr_nav.msg import header

def talker():
    pub = rospy.Publisher('chatter', header, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        msg = 0x55
        pub.publish(msg)

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

 listener.py代码如下:

#!/usr/bin/env python

import rospy
from stdr_nav.msg import header

def callback(data):
#传过来的所有msg为data，其中data.后边的变量看msg文件写，比如我的是iny8 data,那么我就是data.data
    rospy.loginfo(data.data)

def listener():

    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber('chatter', header, callback)

    rospy.spin()

if __name__ == '__main__':
    listener()

 把文件变成可执行文件:

$ chmod +x talker.py
$ chmod +x listener.py

 package.xml文件如下:

<package>
  <name>stdr_nav</name>
  <version>0.0.0</version>
  <description>The stdr_nav package</description>

  <maintainer email="[email protected]">smile</maintainer>

  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>

  <run_depend>rospy</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>message_runtime</run_depend>

</package>

CMakeList.txt文件如下

cmake_minimum_required(VERSION 2.8.3)
project(stdr_nav)

find_package(catkin REQUIRED COMPONENTS
  rospy
  std_msgs
  message_generation
)

add_message_files(
  FILES
  header.msg
)

generate_messages(  #注意要打开
  DEPENDENCIES
  stdr_nav
)
#对于C++结点的CMakeLists.txt文件，INCLUDE_DIRS include和LIBRARIES test_py不能注释，
#但是对于python,这两行不注释，catkin_make通不过
catkin_package(
#INCLUDE_DIRS include
#LIBRARIES test_py
CATKIN_DEPENDS rospy message_runtime
DEPENDS system_lib
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)