本节对应赵虚左ROS书籍的2.1.3

以10hz,发布消息和消息的订阅

1)在功能包下新建scripts文件夹，在scripts文件夹下新建python文件，写入

#! /usr/bin/env python

from std_msgs.msg import String
import rospy

if __name__ == "__main__":
    rospy.init_node("talker_p")
    pub =rospy.Publisher("chatter",String,queue_size=100)

    msg=String()
    msg_front ="你好,hello"

    count = 0
    rate = rospy.Rate(10)

    while not rospy.is_shutdown():
        msg.data=msg_front+str(count)
        pub.publish(msg)

        rospy.loginfo("发送数据为:%s",msg.data)

        rate.sleep()

        count += 1

2) 订阅方的python文件写入：

#! /usr/bin/env python

from std_msgs.msg import String
import rospy
def doMsg(msg):
    rospy.loginfo("我接受::::%s",msg.data)
if __name__ =="__main__":
    rospy.init_node("listener_p")
    sub =rospy.Subscriber("chatter",String,doMsg,queue_size=100)

    rospy.spin()

2）修改CMakeLists.txt 162行

3）运行rosrun

rosrun <包名> <python名>