add: 12.话题消息的定义与使用(python有error)

Author: HuangCongQing

catkin_wp/devel/lib/python2.7/dist-packages/learning_topic/__init__.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+########################################################################
+####          Copyright 2020 GuYueHome (www.guyuehome.com).          ###
+########################################################################
+
+# 该例程将发布/person_info话题，自定义消息类型learning_topic::Person
+
+import rospy
+from learning_topic.msg import Person
+
+
+def velocity_publisher():
+	# ROS节点初始化
+    rospy.init_node('person_publisher', anonymous=True)
+
+# 创建一个Publisher，发布名为/person_info的topic，消息类型为learning_topic::Person，队列长度10
+    person_info_pub = rospy.Publisher('/person_info', Person, queue_size=10)
+
+#设置循环的频率
+    rate = rospy.Rate(10)
+
+    while not rospy.is_shutdown():
+	# 初始化learning_topic::Person类型的消息
+    	person_msg = Person()
+    	person_msg.name = "Tom"
+    	person_msg.age = 18
+    	person_msg.sex = Person.male
+
+	# 发布消息
+        person_info_pub.publish(person_msg)
+    	rospy.loginfo("Publsh person message[%s, %d, %d]",
+                   person_msg.name, person_msg.age, person_msg.sex)
+
+	# 按照循环频率延时
+        rate.sleep()
+
+
+if __name__ == '__main__':
+    try:
+        velocity_publisher()
+    except rospy.ROSInterruptException:
+        pass

catkin_wp/src/learning_topic/script/person_publisher.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+########################################################################
+####          Copyright 2020 GuYueHome (www.guyuehome.com).          ###
+########################################################################
+
+# 该例程将订阅/person_info话题，自定义消息类型learning_topic::Person
+
+import rospy
+from learning_topic.msg import Person
+
+def personInfoCallback(msg):
+    rospy.loginfo("Subcribe Person Info: name:%s  age:%d  sex:%d", 
+			 msg.name, msg.age, msg.sex)
+
+def person_subscriber():
+	# ROS节点初始化
+    rospy.init_node('person_subscriber', anonymous=True)
+
+	# 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
+    rospy.Subscriber("/person_info", Person, personInfoCallback)
+
+	# 循环等待回调函数
+    rospy.spin()
+
+if __name__ == '__main__':
+    person_subscriber()