Python 发布者/订阅者
晚上好,我需要创建一个发布者,在从我以前的acuisite包中阅读了pointcloud2之后,它会发送给我。这是为了模拟实时执行 在rqt_图中,所有东西似乎都连接正确,但酒吧和酒吧似乎根本不通信 这是我的出版商:Python 发布者/订阅者,python,ros,point-clouds,Python,Ros,Point Clouds,晚上好,我需要创建一个发布者,在从我以前的acuisite包中阅读了pointcloud2之后,它会发送给我。这是为了模拟实时执行 在rqt_图中,所有东西似乎都连接正确,但酒吧和酒吧似乎根本不通信 这是我的出版商: #!/usr/bin/env python import rospy from sensor_msgs.msg import PointCloud2 import std_msgs.msg import sensor_msgs.point_cloud2 as pcl2 impor
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import PointCloud2
import std_msgs.msg
import sensor_msgs.point_cloud2 as pcl2
import rosbag
def talker(msg):
pub = rospy.Publisher('chatter', PointCloud2)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(1) #hz
rospy.loginfo(msg)
pub.publish(msg)
rate.sleep()
if __name__ == '__main__':
bag = rosbag.Bag('bag2.bag')
for msg in bag.read_messages(topics=['/d435/depth/color/points']):
talker(msg)
这是我的订户:
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import PointCloud2
import std_msgs.msg
import sensor_msgs.point_cloud2 as pcl2
def callback(data):
#rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
print("ptCloud received")
ptc = Point
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("chatter", PointCloud2, callback)
rospy.spin()
if __name__ == '__main__':
listener()
有人能帮我吗?尝试使用
from std_msgs.msg import String
通信起作用了,但点云没有。我是罗斯的新手,救命 在通话方,您正在多次呼叫
rospy.init_node
。节点初始化应该只执行一次。使用Python“类”,可以通过以下方式解决问题:
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import PointCloud2
import std_msgs.msg
import sensor_msgs.point_cloud2 as pcl2
import rosbag
class Talker():
def __init__(self, bag_file):
self.pub = rospy.Publisher('chatter', PointCloud2)
self.rate = rospy.Rate(1) #hz
self.bag_file = bag_file
def Talk(self):
for msg in self.bag_file.read_messages(topics=['/d435/depth/color/points']):
self.pub.publish(msg)
self.rate.sleep()
if __name__ == '__main__':
rospy.init_node('talker', anonymous=True)
bag = rosbag.Bag('bag2.bag')
talker = Talker(bag)
talker.Talk()
它通过这样做工作
def Talk(self):
for topic, msg, t in self.bag_file.read_messages(topics=['/d435/depth/color/points']):
self.pub.publish(msg)
self.rate.sleep()
为您的bag文件的每条消息调用talker将不起作用,因为节点的创建只应执行一次。在roswiki上查看示例:谢谢,你说得对。我已经做了建议的更改,但仍然无法收到任何内容,也许我需要编辑主题?这是来自bag
{'/d435/depth/color/points':TopicTuple(msg_type='sensor'u msgs/PointCloud2',message_count=2888,connections=1,frequency=30.004750075828),“/t265/odom/sample”:TopicTuple(msg_type='nav'u msgs/Odometry',message_count=19227,connections=1,frequency=57456.21917808219)}的信息
另外,似乎在从包中发送第一条消息后,脚本退出,但尝试在另一个脚本中打印消息时,它们都会出现!似乎它根本不发送消息,我添加了这段代码,只打印了“错误”<代码>尝试:self.pub.publish(msg)除外:print('Error')