发布者
#!/usr/bin/env python2.
# -*- coding: utf- -*-
import rospy
from hdw_driver.msg import update_file_msgdef talker():
pub = rospy.Publisher('hdw_update',update_file_msg, queue_size=)
rospy.init_node('talker',anonymous=True)
#rate = rospy.Rate() # 10hz mi = update_file_msg()
mi.motor_board_file_name="/opt/xx/motor_board_file_name.rb"
mi.power_board_file_name="/opt/xx/power_board_file_name.rb"
mi.sensor_board_file_name="/opt/xx/sensor_board_file_name.rb"
mi.imu_board_file_name="/opt/xx/imu_board_file_name.rb" mi.update_motor_board=True
mi.update_power_board=True
mi.update_sensor_board=True
mi.update_imu_board=True
pub.publish(mi)
rospy.signal_shutdown("closed!")if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
订阅者：
#!/usr/bin/env python2.
# -*- coding: utf- -*- import rospy
from hdw_driver.msg import update_file_msgdef callback(data):
rospy.loginfo(data)
#回调函数 收到的参数.data是通信的数据 默认通过这样的 def callback(data) 取出data.data数据def listener(): # In ROS, nodes are uniquely named. If two nodes with the same
# node are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=True) #启动节点同时为节点命名， 若anoymous为真则节点会自动补充名字，实际名字以 listener_322345等表示
#若为假，则系统不会补充名字，采用用户命名。但是一次只能有一个同名节点，若后面有一个相同listener
#名字的节点则后面的节点启动会注销前面的相同节点名。 rospy.Subscriber("hdw_update", update_file_msg, callback) #启动订阅，订阅主题，及标准字符串格式，同时调用回调函数，当有数据时调用函数，取出数据 # spin() simply keeps python from exiting until this node is stopped #循环程序
rospy.spin()if __name__ == '__main__':
listener()
