rospy中设置一个节点监听多个topic

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于 2019-12-08 14:10:32 发布 · 2.2k 阅读

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#rospy #python #ros #无人车

在rospy中，可以通过初始化一个节点并开启多线程来实现订阅多个话题。每个`rospy.Subscriber`调用都会创建一个子线程，无需额外的线程管理。发布消息到多个话题的方法类似。

当我们想要在一个节点中同时订阅多个话题时，我们可以如下做法。

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

def callback_1(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)

def callback_2(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
    
def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # name 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("chatter_1", String, callback_1)
    rospy.Subscriber("chatter_2", String, callback_2)

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

if __name__ == '__main__':
    listener()

仍然初始化一个节点不变，然后在该节点中开启