借助ChatGPT学习ROS2机器人编程¶

> import rclpy
> from std_msgs.msg import String
> def publisher_callback(msg):
>     print("Received: " + msg.data)
> def main(args=None):
>     rclpy.init(args=args)
>     node = rclpy.create_node("example_publisher_subscriber")
>     publisher = node.create_publisher(String, "topic_name", 10)
>     subscriber = node.create_subscription(String, "topic_name", publisher_callback, 10)
>     msg = String()
>     msg.data = "Hello ROS2"
>     i = 0
>     while rclpy.ok():
>         msg.data = "Hello ROS2 " + str(i)
>         i += 1
>         publisher.publish(msg)
>         rclpy.spin_once(node)
>     node.destroy_node()
>     rclpy.shutdown()
> if __name__ == '__main__':
>     main()

> import rclpy
> from sensor_msgs.msg import LaserScan
> class LaserPublisher:
>     def __init__(self):
>         self.node = rclpy.create_node('laser_publisher')
>         self.pub = self.node.create_publisher(LaserScan, 'scan', 10)
>         timer_period = 0.5  # s
>         self.timer = self.node.create_timer(timer_period, self.timer_callback)
>     def timer_callback(self):
>         msg = LaserScan()
>         # Fill in msg with data from the laser sensor
>         self.pub.publish(msg)
>     def destroy_node(self):
>         self.node.destroy_node()
>         rclpy.shutdown()
> if __name__ == '__main__':
>     rclpy.init()
>     pub = LaserPublisher()
>     rclpy.spin(pub.node)
>     pub.destroy_node()

i> import rclpy
> from sensor_msgs.msg import LaserScan
> class LaserSubscriber:
>     def __init__(self):
>         self.node = rclpy.create_node('laser_subscriber')
>         self.sub = self.node.create_subscription(LaserScan, 'scan', self.laser_callback, 10)
>     def laser_callback(self, msg):
>         # Do something with the received message
>         print(msg.ranges)
>     def destroy_node(self):
>         self.node.destroy_node()
>         rclpy.shutdown()
> if __name__ == '__main__':
>     rclpy.init()
>     sub = LaserSubscriber()
>     rclpy.spin(sub.node)
>     sub.destroy_node()

> #include "rclcpp/rclcpp.hpp"
> #include "sensor_msgs/msg/odometry.hpp"
> class OdomSubscriber : public rclcpp::Node
> {
> public:
>   OdomSubscriber() : Node("odom_subscriber")
>   {
>     // 创建订阅者
>     auto callback =
>       [this](const sensor_msgs::msg::Odometry::SharedPtr msg) -> void
>       {
>         // 处理里程计数据
>         RCLCPP_INFO(this->get_logger(), "Received odometry data: x: %f, y: %f, z: %f",
>                     msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z);
>       };
>     subscription_ = this->create_subscription<sensor_msgs::msg::Odometry>("odom", 10, callback);
>   }
> private:
>   rclcpp::Subscription<sensor_msgs::msg::Odometry>::SharedPtr subscription_;
> };
> int main(int argc, char * argv[])
> {
>   rclcpp::init(argc, argv);
>   rclcpp::spin(std::make_shared<OdomSubscriber>());
>   rclcpp::shutdown();
>   return 0;
> }

> #include <rclcpp/rclcpp.hpp>
> #include <sensor_msgs/msg/nav_sat_fix.hpp>
> class GPSPublisher : public rclcpp::Node
> {
> public:
>   GPSPublisher() : Node("gps_publisher")
>   {
>     publisher_ = this->create_publisher<sensor_msgs::msg::NavSatFix>("gps_data", 10);
>     timer_ = this->create_wall_timer(std::chrono::seconds(1), std::bind(&GPSPublisher::timer_callback, this));
>   }
> private:
>   void timer_callback()
>   {
>     auto msg = sensor_msgs::msg::NavSatFix();
>     msg.latitude = 37.7833;
>     msg.longitude = -122.4167;
>     msg.altitude = 0.0;
>     publisher_->publish(msg);
>   }
>   rclcpp::TimerBase::SharedPtr timer_;
>   rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr publisher_;
> };
> int main(int argc, char * argv[])
> {
>   rclcpp::init(argc, argv);
>   rclcpp::spin(std::make_shared<GPSPublisher>());
>   rclcpp::shutdown();
>   return 0;
> }