python

Author: HuangCongQing

catkin_wp/src/learning_topic/script/pose_subscriber.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+########################################################################
+####          Copyright 2020 GuYueHome (www.guyuehome.com).          ###
+########################################################################
+
+# 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Pose
+
+import rospy
+from turtlesim.msg import Pose
+
+def poseCallback(msg):
+    rospy.loginfo("Turtle pose: x:%0.6f, y:%0.6f", msg.x, msg.y)
+
+def pose_subscriber():
+	# ROS节点初始化
+    rospy.init_node('pose_subscriber', anonymous=True)
+
+	# 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
+    rospy.Subscriber("/turtle1/pose", Pose, poseCallback)
+
+	# 循环等待回调函数
+    rospy.spin()
+
+if __name__ == '__main__':
+    pose_subscriber()