#!/usr/bin/env python2. # -*- coding: utf- -*- import rospy import time from common_msgs.msg import alarminfo def talker(): rospy.init_node('NetWorking', anonymous=True) networking_monitor = rospy.Publisher() rospy.Rate() # 10hz info = alarminfo() in…

Combine Subscriber and Publisher in Python, ROS This article will describe an example of Combining Subscriber and Publisher in Python in ROS programming. This is very useful in ROS development. We will also discuss briefly how to build and modify a c…

发布者: #!/usr/bin/env python #coding=utf- import rospy from std_msgs.msg import String def talker():     pub = rospy.Publisher()     rospy.init_node('talker',anonymous=True)     rate = rospy.Rate() # 10hz     while not rospy.is_shutdown():         hell…

建立文件夹hello_rospy,再在该目录下建立子目录src,cd到该src目录,运行如下命令创建工作包 catkin_create_pkg beginner_tutorials std_msgs rospy roscpp pkg代表所属包名,name是文件名,type是脚本文件名称,output指定输出到屏幕 <node pkg="xsens_drive" name="mtnode" type="mtnode.py" output=&q…

#!/usr/bin/env python import rospy import tf from tf.transformations import * from std_msgs.msg import String from geometry_msgs.msg import Pose from geometry_msgs.msg import Quaternion def get_pos(data): (roll, pitch, yaw) = euler_from_quaternion([d…

#!/usr/bin/env python # -*- coding: utf- -*- import rospy import math from sensor_msgs.msg import Imu from geometry_msgs.msg import Pose, Quaternion,PoseWithCovarianceStamped import PyKDL def quat_to_angle(quat): rot = PyKDL.Rotation.Quaternion(quat.…

#!/usr/bin/env python #coding=utf- import rospy from std_msgs.msg import String i= def talker(): global i pub = rospy.Publisher() rospy.init_node('talker',anonymous=True) #rate = rospy.Rate() # 10hz #rospy.signal_shutdown("closed!") while not ro…

#!/usr/bin/env python #coding=utf- import rospy from std_msgs.msg import String def talker(): pub = rospy.Publisher() rospy.init_node('talker',anonymous=True) #rate = rospy.Rate() # 10hz while not rospy.is_shutdown(): rospy.loginfo("pub") pub.pu…

目录结构 在包里面新建scripts文件夹,里面放运行的脚本文件,记得设置执行权限 然后新建launch文件夹,新建launch文件按照如下格式写: <node pkg="initialpos" name="initial_pos" type="initial_pos.py" output="screen"></node> 然后source 项目的setup.bash,就可以使用 roslaunch i…

def myhook(): print "shutdown time!" rospy.on_shutdown(myhook) 或 rospy.signal_shutdown(reason) 初始化节点关闭 reason 为关闭理由,字符串内容. 例子: #!/usr/bin/env python import rospy import math import sys from tf import transformations from geometry_msgs.msg import…