目录

一、话题与消息获取

二、代码编写 

1、C++

2、python

三、编译运行 

---

一、话题与消息获取

rostopic list

 

 

rostopic type  /turtle1/pose

 

 

rosmsg info turtlesim/Pose

 

二、代码编写 

1、C++

//包含头文件
#include "ros/ros.h"
#include "turtlesim/Pose.h"

void doPose(const turtlesim::Pose::ConstPtr& p){
    ROS_INFO("x=%.2f,y=%.2f,theta=%.2f,lv=%.2f,av=%.2f",
        p->x,p->y,p->theta,p->linear_velocity,p->angular_velocity
    );
}

int main(int argc, char *argv[])
{
    //初始化 ROS 节点
    ros::init(argc,argv,"sub_pose");
    //创建 ROS 句柄
    ros::NodeHandle nh;
    //创建订阅者对象
    ros::Subscriber sub = nh.subscribe<turtlesim::Pose>("/turtle1/pose",1000,doPose);

    ros::spin();

    return 0;
}

2、python

#! /usr/bin/env python
# -*- coding:UTF-8 -*-

#导包
import rospy
from turtlesim.msg import Pose

def doPose(data):
    rospy.loginfo("x=%.2f, y=%.2f,theta=%.2f",data.x,data.y,data.theta)

if __name__ == "__main__":
    #初始化 ROS 节点
    rospy.init_node("sub_pose_p")

    #创建订阅者对象
    sub = rospy.Subscriber("/turtle1/pose",Pose,doPose,queue_size=1000)
    #回调函数处理订阅的数据
    #spin
    rospy.spin()

三、编译运行