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本节对应赵虚左ROS书籍的2.1.3

以10hz,发布消息和消息的订阅

1)在功能包下新建scripts文件夹，在scripts文件夹下新建python文件，写入

#! /usr/bin/env pythonfrom std_msgs.msg import String
import rospyif __name__ == "__main__":rospy.init_node("talker_p")pub =rospy.Publisher("chatter",String,queue_size=100)msg=String()msg_front ="你好,hello"count = 0rate = rospy.Rate(10)while not rospy.is_shutdown():msg.data=msg_front+str(count)pub.publish(msg)rospy.loginfo("发送数据为:%s",msg.data)rate.sleep()count += 1

2) 订阅方的python文件写入：

#! /usr/bin/env pythonfrom std_msgs.msg import String
import rospy
def doMsg(msg):rospy.loginfo("我接受::::%s",msg.data)
if __name__ =="__main__":rospy.init_node("listener_p")sub =rospy.Subscriber("chatter",String,doMsg,queue_size=100)rospy.spin()

2）修改CMakeLists.txt 162行

3）运行rosrun

rosrun <包名> <python名>