ROSpython如何得出一个类里两个sensor_msgs/Image话题的频率差
时间: 2024-05-28 20:05:27 浏览: 43
在ROS中,可以通过使用rospy模块来获取两个sensor_msgs/Image话题的频率差。下面是一个示例代码:
```python
import rospy
from sensor_msgs.msg import Image
from std_msgs.msg import Header
class ImageFrequencyDifference:
def __init__(self):
self.image1_timestamp = None
self.image2_timestamp = None
self.image1_sub = rospy.Subscriber("/image1_topic", Image, self.image1_callback)
self.image2_sub = rospy.Subscriber("/image2_topic", Image, self.image2_callback)
def image1_callback(self, msg):
self.image1_timestamp = msg.header.stamp
def image2_callback(self, msg):
self.image2_timestamp = msg.header.stamp
if self.image1_timestamp is not None:
frequency_difference = self.image2_timestamp - self.image1_timestamp
rospy.loginfo("Frequency difference: %s", frequency_difference)
if __name__ == '__main__':
rospy.init_node("image_frequency_difference_node")
image_frequency_difference = ImageFrequencyDifference()
rospy.spin()
```
在上面的代码中,我们创建了一个名为ImageFrequencyDifference的类,其中初始化函数中订阅了两个sensor_msgs/Image话题的消息。当接收到image1_topic和image2_topic的消息时,分别将它们的时间戳保存下来。然后在image2_callback函数中,如果image1_timestamp不为空,则计算出两个时间戳的差值,并打印出来。
请注意,上述代码中的/image1_topic和/image2_topic是示例话题名称,你需要将其替换为你实际使用的话题名称。