rospy学习笔记——王者开黑群话题通信

在catkin_ws/src/ssr_pkg/scripts里面有两个文件夹分别为chao_node.py,yao_node.py

chao_node.py

#!/usr/bin/env python3
#coding=utf-8
import rospy
from std_msgs.msg import String

if __name__=="__main__":
    rospy.init_node("chao_node")
    rospy.logwarn("我的枪去而复返，你的生命有去无回！")

    pub=rospy.Publisher("Kuai_shang_che",String,queue_size=10)

    rate=rospy.Rate(10)

    while not rospy.is_shutdown():
        rospy.loginfo("我要开始刷屏了！")
        msg=String()
        msg.data="带飞"
        pub.publish(msg)
        rate.sleep()

yao_node.py

#!/usr/bin/env python3
#coding=utf-8
import rospy
from std_msgs.msg import String

if __name__=="__main__":
    rospy.init_node("yao_node")
    rospy.logwarn("过去生于未来！")

    pub=rospy.Publisher("FuZhu",String,queue_size=10)

    rate=rospy.Rate(10)

    while not rospy.is_shutdown():
        rospy.loginfo("我要开始刷屏了！")
        msg=String()
        msg.data="求上车！！！！"
        pub.publish(msg)
        rate.sleep()

在catkin_ws/src/atr_pkg/scripts里有一个订阅方代码make_node.py

#!/usr/bin/env python3
#coding=utf-8
import rospy
from std_msgs.msg import String
import time

#创建回调函数 数量=有几个要订阅
def chao_callback(msg):
    rospy.loginfo(msg.data)

def yao_callback(msg):
    rospy.loginfo(msg.data)

if __name__=="__main__":
    #初始化节点
    rospy.init_node("ma_node")
    rospy.logwarn("show time")

    #创建订阅者
    sub1=rospy.Subscriber("Kuai_shang_che",String,chao_callback,queue_size=10)
    sub2=rospy.Subscriber("FuZhu",String,yao_callback,queue_size=10)
    
    rospy.spin()
    

打开终端1 输入roscore

打开终端2 注意在catkin_ws文件夹路径下，输入

source ./devel/setup.bash
rosrun ssr_pkg chao_node.py

打开终端3 注意在catkin_ws文件夹路径下，输入

source ./devel/setup.bash
rosrun ssr_pkg yao_node.py

打开终端4 注意在catkin_ws文件夹路径下，输入

source ./devel/setup.bash
rosrun ssr_pkg make_node.py

r

结果如图，成功