update

.gitignore

@@ -1,5 +1,5 @@
 ros2_21_tutorials
-
+ros2_21_ws/install
 
 # Byte-compiled / optimized / DLL files
 __pycache__/

README.md

@@ -4,14 +4,22 @@
  * @Company(School): UCAS
  * @Email: 1756260160@qq.com
  * @Date: 2022-07-25 11:32:57
- * @LastEditTime: 2022-07-25 14:39:57
+ * @LastEditTime: 2022-07-25 15:37:41
  * @FilePath: /ros2_python/README.md
 -->
 # ros2_python
 Python implementation of ROS2 | python实现ros2
 
 @[双愚](https://github.com/HuangCongQing) , 若fork或star请注明来源
 
+```
+# 新的优化后的编译器
+sudo apt install python3-colcon-ros
+colcon build
+source install/local_setup.sh
+
+```
+
 ## Tutorials
 * [订阅发布](tutorials_ws/src/01_publisher_and_subscriber.py)
 
@@ -23,4 +31,5 @@ video: https://www.bilibili.com/video/BV16B4y1Q7jQ
 code: https://github.com/guyuehome/ros2_21_tutorials
 
 
+1. [learning_topic](ros2_21_ws/learning_topic)
 1. [learning_tf](ros2_21_ws/learning_tf)

ros2_21_ws/log/latest

@@ -0,0 +1 @@
+latest_build

ros2_21_ws/log/latest_build

@@ -0,0 +1 @@
+build_2022-07-25_17-04-59

ros2_21_ws/learning_topic/learning_topic/topic_helloworld_pub.py → ros2_21_ws/src/learning_topic/learning_topic/topic_helloworld_pub.py

@@ -17,13 +17,14 @@ class PublisherNode(Node):
 
     def __init__(self, name):
         super().__init__(name)                                    # ROS2节点父类初始化
-        self.pub = self.create_publisher(String, "chatter", 10)   # 创建发布者对象（消息类型、话题名、队列长度）
-        self.timer = self.create_timer(0.5, self.timer_callback)  # 创建一个定时器（单位为秒的周期，定时执行的回调函数）
-
+        self.pub = self.create_publisher(String, "chatter", 10)   # 创建发布者对象（消息类型、话题名、队列长度）self.create_publish()==========================================
+        self.timer = self.create_timer(0.5, self.timer_callback)  # 创建一个定时器（单位为秒的周期，定时执行的回调函数） 0.5 相当于1s两次
+
+    # 被上面的self.create_timer调用
     def timer_callback(self):                                     # 创建定时器周期执行的回调函数
         msg = String()                                            # 创建一个String类型的消息对象
         msg.data = 'Hello World'                                  # 填充消息对象中的消息数据
-        self.pub.publish(msg)                                     # 发布话题消息
+        self.pub.publish(msg)                                     # 发布话题消息self.pub.publish(msg)========================================================================
         self.get_logger().info('Publishing: "%s"' % msg.data)     # 输出日志信息，提示已经完成话题发布
 
 def main(args=None):                                 # ROS2节点主入口main函数

ros2_21_ws/learning_topic/learning_topic/topic_helloworld_sub.py → ros2_21_ws/src/learning_topic/learning_topic/topic_helloworld_sub.py

@@ -18,9 +18,11 @@ class SubscriberNode(Node):
     def __init__(self, name):
         super().__init__(name)                                    # ROS2节点父类初始化
         self.sub = self.create_subscription(\
-            String, "chatter", self.listener_callback, 10)        # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度）
+            String, "chatter", self.listener_callback, 10)        # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度）=注意节点名字要对应
 
+    # 被上面调用 回调函数
     def listener_callback(self, msg):                             # 创建回调函数，执行收到话题消息后对数据的处理
+        # 得到数据进行处理操纵
         self.get_logger().info('I heard: "%s"' % msg.data)        # 输出日志信息，提示订阅收到的话题消息
 
 def main(args=None):                                 # ROS2节点主入口main函数

ros2_21_ws/learning_topic/setup.py → ros2_21_ws/src/learning_topic/setup.py

@@ -1,3 +1,12 @@
+'''
+Description: 
+Author: HCQ
+Company(School): UCAS
+Email: 1756260160@qq.com
+Date: 2022-07-25 14:41:52
+LastEditTime: 2022-07-25 14:59:54
+FilePath: /ros2_python/ros2_21_ws/learning_topic/setup.py
+'''
 from setuptools import setup
 
 package_name = 'learning_topic'
@@ -20,7 +29,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-         'topic_helloworld_pub  = learning_topic.topic_helloworld_pub:main',
+         'topic_helloworld_pub  = learning_topic.topic_helloworld_pub:main', # 配置路径才能rosrun
          'topic_helloworld_sub  = learning_topic.topic_helloworld_sub:main',
          'topic_webcam_pub      = learning_topic.topic_webcam_pub:main',
          'topic_webcam_sub      = learning_topic.topic_webcam_sub:main',