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https://github.com/6-robot/wpr_simulation.git
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27 lines
835 B
Python
Executable File
27 lines
835 B
Python
Executable File
#!/usr/bin/env python
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# coding=utf-8
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import rospy
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from std_msgs.msg import String
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# 导航结果回调函数
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def resultNavi(msg):
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rospy.loginfo("导航结果 = %s",msg.data)
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if __name__ == "__main__":
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rospy.init_node("demo_map_tools")
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# 发布航点名称话题
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navi_pub = rospy.Publisher("/waterplus/navi_waypoint",String,queue_size=10)
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# 订阅导航结果话题
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result_sub = rospy.Subscriber("/waterplus/navi_result",String,resultNavi,queue_size=10)
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# 延时1秒钟，让后台的话题发布操作能够完成
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rospy.sleep(1)
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# 构建航点名称消息包
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msg = String()
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msg.data = '1'
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# 发送航点名称消息包
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navi_pub.publish(msg)
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# 构建循环让程序别退出，等待导航结果
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rate = rospy.Rate(10)
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while not rospy.is_shutdown():
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rate.sleep() |