ROS中Python Socket 通讯的简单使用（回调函数）

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已于 2023-04-19 10:45:50 修改

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文章标签： python 开发语言

于 2023-04-19 10:43:53 首次发布

本文链接：https://blog.youkuaiyun.com/jiaostyle/article/details/130238713

有时为了实现主从机的通讯，需要将主机的数据发布出来，在从机机型接收，下述的服务端和客户端为简单的实现：

server.py:

# https://mp.weixin.qq.com/s/_XyMXpico_LG__soR5pOPQ
import socket
import rospy
from sensor_msgs.msg import LaserScan
s = ''

def socket1():
    global s
    s=socket.socket() #socket.AF_INET, socket.SOCK_STREAM
    # s.bind(('192.168.50.112',1234))          
    s.bind((socket.gethostname(), 2256))          
    s.listen(5)
    print("Server started, Waiting for request...")
    
def LaserCB(laser_):
    global s       
    clt,adr = s.accept()
    print(f"{adr}Connect success！")
    msg_ = bytes(laser_.header.frame_id + ',', 'utf-8')
    len_msg = bytes(str(len(msg_) - 1), 'utf-8')
    msg_all = msg_ + len_msg
    clt.send(msg_all)
    clt.close()
    
    
if __name__ == '__main__':
    rospy.init_node("Socket_node")
    socket1()
    sub = rospy.Subscriber("/wr_scan_1", LaserScan, LaserCB, queue_size=100)
    rospy.spin()

client.py: