ROS2 一个节点能同时发布和订阅多个话题吗？

[7493416]

如题，在用jetson nano + pico做个机器人，过程中发现 一个节点中无法同时发布和订阅不同的话题，代码 如下：
pico_info这个话题收不到回调，这个pico_info发布时成功了，没报错的

import rclpy
import json

from rclpy.node import Node
from std_msgs.msg import String
from controller.service import init_server
from controller.run_data import *

class ControllerNode(Node):

def __init__(self):
    super().__init__('controller_Node')
    self.command_publisher = self.create_publisher(String, 'controller', 10)
    
    self.create_subscription(String, 'pico_info', self.pico_info_callback, 6)
    
    init_server(self.command_publisher)


def pico_info_callback(self, msg):
    global voltage12v
    print('Recive message: "%s"' % msg.data)
    # msg.data =  '{"target": "jarvis", "voltage12v": 11.32}'
    rec_json = json.loads(str(msg.data))
    voltage12v = int(rec_json['voltage12v'])
    set_voltage12v(voltage12v)

def main(args=None):

rclpy.init(args=args)
controller_Node = ControllerNode()
rclpy.spin(controller_Node)

controller_Node.destroy_node()
rclpy.shutdown()

if name == 'main':
main()

[小鱼]

@7493416 有没有可能没有发布

[7493416]

@小鱼 感谢大佬的回复，大佬的意思就是说ROS2是支持同时发布和订阅多个话题，是吧？是的话，我再排查一下消息是否发布成功；以下是发布消息节点的发布相关代码

class LowerNode(Node):

    def __init__(self):
        super().__init__('motion_node')
        self.pico_publisher = self.create_publisher(String, 'pico_info', 10)
        set_pico_publisher(self.pico_publisher)

        self.create_subscription(String, 'recognition_obj', self.recognition_obj_callback, 10)
        self.create_subscription(String, 'controller', self.controller_callback, 10)

        uart_init()
        _thread.start_new_thread(recv_data, (self.pico_publisher,))

---

import serial as serial
import time
import random

from motion.utils import command_util
from std_msgs.msg import String
from motion.run_data import *

my_uart = serial.Serial(port="/dev/ttyTHS1", baudrate=115200)

def uart_init():
    if not my_uart.is_open:
        my_uart.open()


def send_data(s_data):
    s_data = s_data + "\n"
    print('Send data: ' + s_data)
    my_uart.write(s_data.encode())
    time.sleep(0.3)


def recv_data(pico_publisher):
    while True:
        r_data = my_uart.readline().decode()
        print('recv data: ' + r_data)
        if len(r_data) > 0:
            s_msg = String() # 要发布的消息类型
            s_msg.data = str(r_data)
            pico_publisher.publish(s_msg)
        time.sleep(0.2)

[7493416]

@小鱼

话题应该是发布成功了的。难道是接受问题？

[小鱼]

@7493416 肯定支持的，是否发布成功用 ros2 topic echo 检查