msg = rospy.SubscribeListener('jixiebi')
时间: 2024-01-18 07:01:45 浏览: 18
这是一个无法正确运行的代码。rospy中没有SubscribeListener这个函数。如果你想订阅名为'jixiebi'的话题,正确的代码应该是:
```
rospy.Subscriber('jixiebi', message_type, callback_function)
```
其中,message_type是你想要订阅的话题消息类型,callback_function是当收到消息时要调用的函数。你需要根据实际情况替换这两个参数。
相关问题
更正这个Python代码使他可以在ros20.04里面发布消息#!/usr/bin/env python3 #coding=utf-8 import rospy import rospkg from quadrotor_msgs.msg import PositionCommand from nav_msgs.msg import Odometry from sensor_msgs.msg import Joy from mavros_msgs.msg import AttitudeTarget from tf.transformations import euler_from_quaternion import math rospy.init_node('traj_pub') local_pos_pub3 = rospy.Publisher('/position_cmd', PositionCommand, queue_size=10) poscom = PositionCommand() rate = rospy.Rate(20.0) i = 0 while not rospy.is_shutdown(): poscom.position.x = 2.5 * math.sin(math.pi * i / 400) poscom.position.y = 5 * math.sin(math.pi * i / 800) poscom.position.z = 2 poscom.velocity.x = 0 poscom.velocity.y = 0 poscom.velocity.z = 0 poscom.acceleration.x = 0 poscom.acceleration.y = 0 poscom.acceleration.z = 0 poscom.yaw = 0 poscom.jerk.x = 0 poscom.jerk.y = 0 poscom.jerk.z = 0 local_pos_pub3.publish(poscom) # Uncomment the following code to publish attitude target message # msg = AttitudeTarget() # q = tf.transformations.quaternion_from_euler(0, 0, 0.5) # msg.type_mask = msg.IGNORE_ROLL_RATE | msg.IGNORE_PITCH_RATE | msg.IGNORE_YAW_RATE # msg.orientation.x = q[0] # msg.orientation.y = q[1] # msg.orientation.z = q[2] # msg.orientation.w = q[3] # msg.thrust = 0.75 # local_pos_pub3.publish(msg) rate.sleep() i += 1
此代码需要在ROS环境下运行,并且需要安装以下依赖项:
1. quadrotor_msgs
2. nav_msgs
3. sensor_msgs
4. mavros_msgs
您可以通过以下命令安装这些依赖项:
```
sudo apt-get install ros-<distro>-quadrotor-msgs
sudo apt-get install ros-<distro>-nav-msgs
sudo apt-get install ros-<distro>-sensor-msgs
sudo apt-get install ros-<distro>-mavros-msgs
```
在安装完依赖项后,您可以尝试以下更改以使其在ROS 20.04中运行:
```
#!/usr/bin/env python3
#coding=utf-8
import rospy
from quadrotor_msgs.msg import PositionCommand
from nav_msgs.msg import Odometry
from sensor_msgs.msg import Joy
from mavros_msgs.msg import AttitudeTarget
from tf.transformations import euler_from_quaternion
import math
rospy.init_node('traj_pub')
local_pos_pub3 = rospy.Publisher('/position_cmd', PositionCommand, queue_size=10)
poscom = PositionCommand()
rate = rospy.Rate(20.0)
i = 0
while not rospy.is_shutdown():
poscom.header.stamp = rospy.Time.now()
poscom.header.frame_id = "world"
poscom.position.x = 2.5 * math.sin(math.pi * i / 400)
poscom.position.y = 5 * math.sin(math.pi * i / 800)
poscom.position.z = 2
poscom.velocity.x = 0
poscom.velocity.y = 0
poscom.velocity.z = 0
poscom.acceleration.x = 0
poscom.acceleration.y = 0
poscom.acceleration.z = 0
poscom.yaw = 0
poscom.yaw_dot = 0
poscom.jerk.x = 0
poscom.jerk.y = 0
poscom.jerk.z = 0
local_pos_pub3.publish(poscom)
rate.sleep()
i += 1
```
此代码将发布一个有关位置命令的ROS消息,并使用ROS标准时间戳。如果您想要发布姿态目标消息,您可以取消代码中的注释并使用正确的消息类型和参数。
#!/usr/bin/env python import rospy from std_msgs. msg import String def talker(): rospy. init_node('talker_1', anonymous=True) pub =rospy.publisher('chatter',String,queue_size =10) rate =rospy.Rate(10) while not rospy.is_shutdown(): hello_str ="Hello ROS" rospy.loginfo(hello_str) pub.publish(hello_str) rate.sleep() if_name_ = ='_main_': try: talker() except rospy.ROSInterruptException: pass
这段代码有几个问题:
1. 第一行代码中的 `#!/usr/bin/env python` 后面应该有一个换行符,否则会抛出语法错误。
2. 在 `from std_msgs. msg import String` 这一行中,`msg` 应该是小写的 `msg`,否则会抛出一个 `ModuleNotFoundError`。
3. 在 `pub =rospy.publisher('chatter',String,queue_size =10)` 这一行中,应该是 `rospy.Publisher` 而不是 `rospy.publisher`,否则会抛出一个 `AttributeError`。
4. 在 `if_name_ = ='_main_':` 这一行中,应该是 `__name__` 而不是 `if_name_`,否则会抛出一个 `NameError`。
下面是修改后的代码:
```python
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
def talker():
rospy.init_node('talker_1', anonymous=True)
pub = rospy.Publisher('chatter', String, queue_size=10)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
hello_str = "Hello ROS"
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
```
希望这可以帮到你!