使用Obj消息(Python)

使用流程

1. 导入模块

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from demo_msgs.msg import Team

Tip

python导入自定义消息模块，遵循一定的规范，from 模块名.msg import 具体的消息

2. 构建消息

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team = Team()
team.name = "xx"
team.leader.name = "xx"
team.leader.age = 0

完整示例代码

Publisher代码

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#!/usr/bin/env python
# coding:utf-8

import rospy
from demo_msgs.msg import Team

if __name__ == '__main__':
    nodeName = "topic_py_publisher2"
    rospy.init_node(nodeName)

    # 创建发布者
    topicName = "my_topic2"
    publisher = rospy.Publisher(topicName, Team, queue_size=1000)

    rate = rospy.Rate(1)
    index = 0
    while not rospy.is_shutdown():
        team = Team()
        team.name = "name-%d" % index
        team.leader.name = "name-%d" % index
        team.leader.age = index
        publisher.publish(team)

        rate.sleep()
        index += 1

    rospy.spin()

Subscriber代码

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#!/usr/bin/env python
# coding:utf-8

import rospy
from demo_msgs.msg import Team


def callback(msg):
    if not isinstance(msg, Team):
        return
    print "name: %s" % msg.name
    print "leader name: %s" % msg.leader.name
    print "leader age: %d" % msg.leader.age
    print "--------------------"


if __name__ == '__main__':
    nodeName = "topic_py_subscriber"
    rospy.init_node(nodeName)

    # 创建订阅者
    topicName = "my_topic2"
    rospy.Subscriber(topicName, Team, callback)

    rospy.spin()