目录

一、话题与消息获取

二、代码编写 

1、C++

2、python

三、编译运行 

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一、话题与消息获取

rostopic list

 

 

rostopic type  /turtle1/pose

 

 

rosmsg info turtlesim/Pose

 

二、代码编写 

1、C++

//包含头文件
#include "ros/ros.h"
#include "turtlesim/Pose.h"void doPose(const turtlesim::Pose::ConstPtr& p){ROS_INFO("x=%.2f,y=%.2f,theta=%.2f,lv=%.2f,av=%.2f",p->x,p->y,p->theta,p->linear_velocity,p->angular_velocity);
}int main(int argc, char *argv[])
{//初始化 ROS 节点ros::init(argc,argv,"sub_pose");//创建 ROS 句柄ros::NodeHandle nh;//创建订阅者对象ros::Subscriber sub = nh.subscribe<turtlesim::Pose>("/turtle1/pose",1000,doPose);ros::spin();return 0;
}

2、python

#! /usr/bin/env python
# -*- coding:UTF-8 -*-#导包
import rospy
from turtlesim.msg import Posedef doPose(data):rospy.loginfo("x=%.2f, y=%.2f,theta=%.2f",data.x,data.y,data.theta)if __name__ == "__main__":#初始化 ROS 节点rospy.init_node("sub_pose_p")#创建订阅者对象sub = rospy.Subscriber("/turtle1/pose",Pose,doPose,queue_size=1000)#回调函数处理订阅的数据#spinrospy.spin()

三、编译运行