1. 创建package(创建过可以省略)

  1. ros2 pkg create --build-type ament_python py_pubsub

可以修改package.xml文件如下信息

  1. <description>C++ client server tutorial</description>
  2. <maintainer email="you@email.com">Your Name</maintainer>
  3. <license>Apache License 2.0</license>

2. 编写publisher节点代码

2.1 下载示例代码

  1. 在package的py_pubsub下创建subscriber.py文件,代码如下 ```python import rclpy from rclpy.node import Node from std_msgs.msg import String

class SubNode(Node): def init(self): super(SubNode, self).init(‘py_sub’) self.create_subscription(String,’py_topic’,self.call_back,10)

  1. def call_back(self,msg):
  2.     self.get_logger().info(msg.data)

def main(): rclpy.init() node = SubNode() rclpy.spin(node) node.destroy_node() rclpy.shutdown()

if name == ‘main‘: main()

  1. <a name="sZTvn"></a>
  2. ## 2.2 添加依赖
  4. 1. 打开package.xml文件,添加下面两行
  5. ```xml
  6. <depend>rclpy</depend>
  7. <depend>std_msgs</depend>

  1. 打开 setup.py,确保如下内容和package.xml中一致

    1. maintainer='YourName',
    2. maintainer_email='you@email.com',
    3. description='Examples of minimal publisher/subscriber using rclpy',
    4. license='Apache License 2.0',

  2. setup.py中console_scripts在字段的括号内添加以下行entry_points

    1. entry_points={
    2.  'console_scripts': [
    3.      'talker = py_pubsub.publisher:main',
    4.      'subscriber = py_pubsub.subscriber:main',
    5.  ],
    6. },

    注意py_pubsub是包名 publisher是py文件名 main是执行的函数

    3. 回到工程目录,编译代码

    1. colcon build

    4. 使构建生效

    1. source install/setup.bash

    5. 运行发布节点

    1. ros2 run py_pubsub subscriber