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ros::spinOnce() ros::spin()

时间: 2024-05-31 14:07:28 浏览: 117

Programming Robots with ROS

ROS, the Robot Operating System, is an open source framework for getting robots to do things. ROS is meant to serve as a common software platform for people who are building and using robots. This common platform lets people share code and ideas more readily and, perhaps more importantly, means that you do not have to spend years writing software infrastructure before your robots start moving! ROS has been remarkably successful. At the time of writing, in the official distribution of ROS, there are over 2,000 software packages, written and maintained by almost 600 people. Approximately 80 commercially available robots are supported, and we can find at least 1,850 academic papers that mention ROS. We no longer have to write everything from scratch, especially if we’re working with one of the many robots that support ROS, and can spend more time thinking about robotics, rather than bit-fiddling and device drivers.

In ROS, there are two commonly used functions for handling callbacks: ros::spinOnce() and ros::spin(). ros::spinOnce() allows ROS to process any pending callbacks once, but then returns control to the calling thread. This is useful when you have a loop that needs to keep running, but you need to periodically check for new data or events. ros::spin(), on the other hand, is a blocking call that does not return control to the calling thread until the node is shut down. This is useful when you have a node that needs to run continuously and respond to events or data as they come in. In general, you should use ros::spinOnce() if you have a loop that needs to keep running, and ros::spin() if you have a node that needs to run continuously. However, there are some cases where you may need to use both functions together, such as if you have multiple nodes running in the same process.

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