【ROS2简单例程】基于python的发布订阅实现

1、自定义消息类型Student

1.1 创建base_interfaces_demo包

1.2 创建Student.msg文件

string name
int32 age
float64 height

1.2 在cmakeLists.txt中增加如下语句

#增加自定义消息类型的依赖
find_package(rosidl_default_generators REQUIRED)
# 为接口文件生成源代码
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Student.msg"

)

2、发布方实现

#导入所需的包
import rclpy
from rclpy.node import Node
from base_interfaces_demo.msg import Student

#自定义节点类
class Talker(Node):
    def __init__(self):
        super().__init__("talker_stu_node_py")
        self.count=0
        self.get_logger().info("发布方已创建！（python）")
        self.publisher=self.create_publisher(Student,"chatter_stu",10)
        self.timer=self.create_timer(0.1,self.on_timer)

    def on_timer(self):
        message=Student()
        mes