rosbridge的示例代码

以下是一个使用ROS和rosbridge的示例代码，它将一个ROS主题发布到Websocket服务器：

import rospy
from std_msgs.msg import String
from rosbridge_library import RosbridgeWebSocket

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    r = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        r.sleep()

if __name__ == '__main__':
    try:
        ws = RosbridgeWebSocket('ws://127.0.0.1:9090')
        rospy.loginfo("Connected to websocket server")
        ws.run_forever()
    except Exception as e:
        rospy.logerr("Error connecting to websocket server: %s", str(e))

    try:
        talker()
    except rospy.ROSInterruptException:
        pass

    ws.close()
    rospy.loginfo("Websocket connection closed")

这个脚本将ROS主题“chatter”发布到ROS节点“talker”中，并使用rosbridge将其发布到WebSocket服务器。在运行此脚本之前，需要运行rosbridge服务器。