闫刚 ros node讲解

资源

ros_node.md
闫刚 ros node讲解

运行ros python的订阅和发布的例子

运行roscore

$ roscore

运行1个发布者，3个监听者

./talker
.listener
.listener
.listener

查看node list

$ rosnode list
/listener_42936_1590332118904
/listener_43059_1590332129428
/listener_43180_1590332136028
/rosout
/rqt_gui_py_node_43199
/talker_42923_1590332112048

查看node图形

rosrun rqt_graph rqt_graph

001_talker_listener文件内容分析

yangang@ubuntu:~/work/ros/ros_tutorials-0.10.1/rospy_tutorials$ tree -L 2 001_talker_listener/
001_talker_listener/
├── listener -> listener.py
├── listener.py
├── README
├── talker -> talker.py
├── talker_listener.launch
├── talker.py
└── talker_timer.py

0 directories, 7 files

源码分支

创建节点，订阅主题chatter

rospy.init_node('listener', anonymous=True)
rospy.Subscriber('chatter', String, callback)