目錄

• 如何實現一個訂閱者
• C++
• • 編寫程序
  • 配置CMakeLists.txt
  • 編譯并運行發布者
• python
• • 創建并編寫腳本
  • 運行

平臺：華碩 Thinker Edge R 瑞芯微 RK3399Pro
固件版本：Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615

---

記錄自【古月居】古月·ROS入門21講 | 一學就會的ROS機器人入門教程 —— 古月居GYH P11 11.訂閱者Subscriber的編程實現

如何實現一個訂閱者

初始化ROS節點；

訂閱需要的話題；

循環等待話題消息，接收到消息后進入回調函數；

在回調函數中完成消息處理。

C++

編寫程序

nano ~/catkin_workspace/src/learning_topic/src/pose_subscriber.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************//*** 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; }

配置CMakeLists.txt

nano ~/catkin_workspace/src/learning_topic/CMakeLists.txt

在Build內，Install前加入

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

編譯并運行發布者

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic velocity_publisher# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic pose_subscriber# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rqt_graph

python

創建并編寫腳本

nano ~/catkin_workspace/src/learning_topic/scripts/pose_subscriber.py #!/usr/bin/env python # -*- coding: utf-8 -*-######################################################################## #### Copyright 2020 GuYueHome (www.guyuehome.com). ### ######################################################################### 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()

運行

sudo chmod +x ~/catkin_workspace/src/learning_topic/scripts/pose_subscriber.py# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic velocity_publisher.py# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic pose_subscriber.py# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rqt_graph

創作挑戰賽新人創作獎勵來咯，堅持創作打卡瓜分現金大獎

總結

以上是生活随笔為你收集整理的【RK3399Pro学习笔记】七、ROS订阅者Subscriber的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。