ros mqtt通信示例代码

以下是 ROS 中使用 MQTT 进行通信的示例代码：

1. 安装 MQTT 库

sudo apt-get install ros-<distro>-mqtt-bridge-msgs

2. 编写发布者节点

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

def mqtt_publisher():
    pub = rospy.Publisher('/mqtt/publish', MqttMessage, queue_size=10)
    rospy.init_node('mqtt_publisher', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        msg = MqttMessage()
        msg.topic = "test"
        msg.payload = "Hello, world!"
        pub.publish(msg)
        rate.sleep()

if __name__ == '__main__':
    try:
        mqtt_publisher()
    except rospy.ROSInterruptException:
        pass

3. 编写订阅者节点

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

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

def mqtt_subscriber_node():
    rospy.init_node('mqtt_subscriber', anonymous=True)
    rospy.Subscriber("/mqtt/subscribe", MqttMessage, mqtt_subscriber)
    rospy.spin()

if __name__ == '__main__':
    mqtt_subscriber_node()

以上就是 ROS 中使用 MQTT 进行通信的示例代码。