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navigation2仿真测试

周期rate = rospy.Rate(20)while not rospy.is_shutdown(): if not gps_position is None : print("2222") else : print("not data") rate.sleep()spin()可以不需要spin()回调函数订阅的话题有数据就会开一个线程进入回调函数def 111111_GpsPosition(data): rospy.Subscriber('话题', '消息格式',111

1、udp发送-接受发送 import socket a=bytearray() for i in range(0,18): a.append(0) udp_socket = socket.socket(family=socket.AF_INET, type=socket.SOCK_DGRAM) udp_socket.sendto(a, ('127.0.0.1', 12821)) udp_socket.close()接收 #--------------阻塞----------

安装python-pcl pip3 install python-pcl获取rosbag点云并现实显示点云import rospyimport pcl.pcl_visualizationimport numpy as npfrom sensor_msgs.msg import PointCloud2from sensor_msgs import point_cloud2global dd = None#回调获取点云话题数据def callback_pcl(data):

import rospyimport open3d as o3dimport numpy as npfrom sensor_msgs.msg import PointCloud2from sensor_msgs import point_cloud2global dd = Nonedef callback_pcl(data): global d d=datadef Point_cloud(): global d ss=point_cloud2.read_

安装python-open3d pip3 install open3d获取rosbag点云并现实显示点云import rospyimport open3d as o3dimport numpy as npglobal dd = None#回调获取点云话题数据def callback_pcl(data): global d d=data#def Point_cloud(): global d ss=point_cloud2.read_poin