Note: This tutorial assumes that you have completed the previous tutorials: 编写简单的发布者和订阅者(Python)(C++).
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

检验简单的发布者和订阅者

Description: 本教程将介绍如何运行及测试发布者和订阅者。

Tutorial Level: BEGINNER

Next Tutorial: 编写简单的服务和客户端 (Python) (C++)

运行发布者

确保roscore已经开启:

$ roscore

catkin specific 如果使用catkin,在运行你的程序前,请确保你在调用catkin_make后已经source过工作空间的setup.*sh文件:

# 在catkin工作空间中
$ cd ~/catkin_ws
$ source ./devel/setup.bash

上一教程中,我们制作了一个叫做talker的发布者,让我们运行它:

$ rosrun beginner_tutorials talker      # (C++)
$ rosrun beginner_tutorials talker.py   # (Python)

你会看到:

  • [INFO] [WallTime: 1314931831.774057] hello world 1314931831.77
    [INFO] [WallTime: 1314931832.775497] hello world 1314931832.77
    [INFO] [WallTime: 1314931833.778937] hello world 1314931833.78
    [INFO] [WallTime: 1314931834.782059] hello world 1314931834.78
    [INFO] [WallTime: 1314931835.784853] hello world 1314931835.78
    [INFO] [WallTime: 1314931836.788106] hello world 1314931836.79

发布者节点已启动并运行。现在我们需要一个订阅者以接收来自发布者的消息。

运行订阅者

上一教程中,我们也制作了一个叫做listener的订阅者,让我们运行它:

$ rosrun beginner_tutorials listener     # (C++)
$ rosrun beginner_tutorials listener.py  # (Python) 

你会看到:

  • [INFO] [WallTime: 1314931969.258941] /listener_17657_1314931968795I heard hello world 1314931969.26
    [INFO] [WallTime: 1314931970.262246] /listener_17657_1314931968795I heard hello world 1314931970.26
    [INFO] [WallTime: 1314931971.266348] /listener_17657_1314931968795I heard hello world 1314931971.26
    [INFO] [WallTime: 1314931972.270429] /listener_17657_1314931968795I heard hello world 1314931972.27
    [INFO] [WallTime: 1314931973.274382] /listener_17657_1314931968795I heard hello world 1314931973.27
    [INFO] [WallTime: 1314931974.277694] /listener_17657_1314931968795I heard hello world 1314931974.28
    [INFO] [WallTime: 1314931975.283708] /listener_17657_1314931968795I heard hello world 1314931975.28

完成后,按Ctrl+C停止listener和talker。

现在已经研究了简单的发布者和订阅者,让我们再编写简单的服务和客户端(Python)(C++)

Wiki: cn/ROS/Tutorials/ExaminingPublisherSubscriber (last edited 2020-12-28 01:55:21 by yakamoz423)