控制测试 #!/usr/bin/env python3 from std_msgs.msg import Float32 from std_msgs.msg import Int32 import rclpy from rclpy.node import Node class NodeSubscribe02(Node): def __init__(self,name): super().__init__(name) self.get_logger().info("大家好，我是%s!" % name) # 创建订阅者 self.command_subscribe_ = self.create_subscription(Float32,"distance",self.command_callback,10) self.command_publisher_ = self.create_publisher(Int32,"servo_angle", 10) def command_callback(self,msg): angle = 0.0 if msg.data>0.20: angle = 0 else: angle = 90 self.get_logger().info(f'收到距离：[{msg.data}]，发送角度：{angle}') pub_msg = Int32() pub_msg.data = angle self.command_publisher_.publish(pub_msg) def main(args=None): rclpy.init(args=args) # 初始化rclpy node = NodeSubscribe02("topic_subscribe_02") # 新建一个节点 rclpy.spin(node) # 保持节点运行，检测是否收到退出指令（Ctrl+C） rclpy.shutdown() # 关闭rclpy main()