cd?~/testROS_ws/src/topic_publisher/src

創建代碼pose_subscriber.cpp

/*** 該例程將訂閱/turtle1/pose話題，消息類型turtlesim::Pose*/#include <ros/ros.h> #include "turtlesim/Pose.h"// 接收到訂閱的消息后，會進入消息回調函數 void poseCallback(const turtlesim::Pose::ConstPtr& msg) {// 將接收到的消息打印出來ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y); }int main(int argc, char **argv) {// 初始化ROS節點ros::init(argc, argv, "pose_subscriber");// 創建節點句柄ros::NodeHandle n;// 創建一個Subscriber，訂閱名為/turtle1/pose的topic，注冊回調函數poseCallbackros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);// 循環等待回調函數ros::spin();return 0; }

３.編譯代碼

３.1修改cmakelists.txt

添加這兩句：

add_executable(pose_subscriber src/pose_subscriber.cpp)target_link_libraries(pose_subscriber ${catkin_LIBRARIES})

python代碼

#!/usr/bin/env python # -*- coding: utf-8 -*- # 該例程將訂閱/turtle1/pose話題，消息類型turtlesim::Poseimport rospy from turtlesim.msg import Posedef poseCallback(msg):rospy.loginfo("Turtle pose: x:%0.6f, y:%0.6f", msg.x, msg.y)def pose_subscriber():# ROS節點初始化rospy.init_node('pose_subscriber', anonymous=True)# 創建一個Subscriber，訂閱名為/turtle1/pose的topic，注冊回調函數poseCallbackrospy.Subscriber("/turtle1/pose", Pose, poseCallback)# 循環等待回調函數rospy.spin()if __name__ == '__main__':pose_subscriber()

?

總結

以上是生活随笔為你收集整理的ROS(3)订阅者subscriber编程实现的全部內容，希望文章能夠幫你解決所遇到的問題。

如果覺得生活随笔網站內容還不錯，歡迎將生活随笔推薦給好友。