#!/usr/bin/env python
import rospy
from nav_msgs.msg import Odometry
def callback(data):
rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.header)
rospy.loginfo(rospy.get_caller_id() + "child_frame_id %s", data.child_frame_id)
rospy.loginfo(rospy.get_caller_id() + "pose %s", data.pose)
rospy.loginfo(rospy.get_caller_id() + "twist %s", data.twist)
def listener():
# In ROS, nodes are uniquely named. If two nodes with the same
# node are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("odom_topic", Odometry, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
listener()
下面是一个简单的python节点(基于this),它完全符合您的要求:
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