gazebo topic订阅

最新推荐文章于 2025-03-26 22:42:33 发布

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最新推荐文章于 2025-03-26 22:42:33 发布 · 1.4k 阅读

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#gazebo #topic

本文介绍如何使用Gazebo通过TCP/IP套接字进行通信，包括如何订阅Gazebo主题以接收消息。提供了示例代码，展示如何创建节点、订阅世界统计信息主题，并处理收到的消息。

gazebo$ find . -name *proto
./gazebo/msgs/cylindergeom.proto
./gazebo/msgs/undo_redo.proto
./gazebo/msgs/cessna.proto
./gazebo/msgs/pose_animation.proto
./gazebo/msgs/link_data.proto
./gazebo/msgs/int.proto
./gazebo/msgs/propagation_grid.proto
./gazebo/msgs/rest_login.proto
./gazebo/msgs/pid.proto
./gazebo/msgs/sky.proto

http://gazebosim.org/tutorials?tut=topics_subscribed&ver=1.9

Tutorial: How to subscribe to gazebo topics

Gazebo communicates on TCP/IP sockets, which allows separate programs to interface with Gazebo. Boost ASIO is used by Gazebo to manage the communication layer, and Google Protobufs are used as the message passing and serialization library. Messages are sent on named channels called topics via publishers. On the other side of a topic are subscribers, which receive callbacks when messages arrive. In summary, to send messages one must publish messages using a publisher on a named topic, and to receive messages one must subscribe to a named topic using a subscriber.

The easiest way to communicate with Gazebo over TCP/IP sockets is to link against the Gazebo libraries, and use the provided functions.

The Gazebo transport system