topic通信subscriber

1. 创建package

catkin_create_pkg demo_topic roscpp rospy std_msgs

已创建就可以省略

2. 编写subscriber节点代码

在demo_topic目录的demo_topic下的scripts文件夹,文件夹下创建subscriber.py文件，代码如下

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)

if __name__ == '__main__':
    rospy.init_node('subscriber')
    rospy.Subscriber('chatter',String,callback)
    rospy.spin()

3. 配置工程

在CMakeLists.txt文件中做如下修改:

catkin_install_python(PROGRAMS 
  scripts/publisher.py
  scripts/scriber.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

3. 构建工程

在工程目录下执行如下命令

catkin_make