运行第一个ROS2程序

Talker（发布者）和 Listener（订阅者）是ROS2中最基本的通信模式。我们将通过运行ROS2提供的示例程序来体验这一点。

source /opt/ros/kilted/setup.bash
ros2 run demo_nodes_cpp talker

输出

[INFO] [1777475136.932469449] [talker]: Publishing: 'Hello World: 1'
[INFO] [1777475137.932462669] [talker]: Publishing: 'Hello World: 2'
[INFO] [1777475138.932446708] [talker]: Publishing: 'Hello World: 3'
[INFO] [1777475139.932469549] [talker]: Publishing: 'Hello World: 4'
[INFO] [1777475140.932442790] [talker]: Publishing: 'Hello World: 5'
[INFO] [1777475141.932516740] [talker]: Publishing: 'Hello World: 6'
[INFO] [1777475142.932489418] [talker]: Publishing: 'Hello World: 7'
[INFO] [1777475143.932478825] [talker]: Publishing: 'Hello World: 8'
[INFO] [1777475144.932362057] [talker]: Publishing: 'Hello World: 9'
[INFO] [1777475145.932459809] [talker]: Publishing: 'Hello World: 10'
[INFO] [1777475146.932468359] [talker]: Publishing: 'Hello World: 11'
[INFO] [1777475147.932465384] [talker]: Publishing: 'Hello World: 12'
[INFO] [1777475148.932476777] [talker]: Publishing: 'Hello World: 13'
[INFO] [1777475149.932426539] [talker]: Publishing: 'Hello World: 14'
[INFO] [1777475150.932431203] [talker]: Publishing: 'Hello World: 15'

Listener（订阅者）

source /opt/ros/kilted/setup.bash
ros2 run demo_nodes_py listener

输出

[INFO] [1777475154.980730726] [listener]: I heard: [Hello World: 19]
[INFO] [1777475155.934856156] [listener]: I heard: [Hello World: 20]
[INFO] [1777475156.936388731] [listener]: I heard: [Hello World: 21]
[INFO] [1777475157.934769914] [listener]: I heard: [Hello World: 22]
[INFO] [1777475158.936256956] [listener]: I heard: [Hello World: 23]
[INFO] [1777475159.936021431] [listener]: I heard: [Hello World: 24]
[INFO] [1777475160.936259406] [listener]: I heard: [Hello World: 25]
[INFO] [1777475161.935142380] [listener]: I heard: [Hello World: 26]
[INFO] [1777475162.935196185] [listener]: I heard: [Hello World: 27]
[INFO] [1777475163.933663531] [listener]: I heard: [Hello World: 28]
[INFO] [1777475164.935210843] [listener]: I heard: [Hello World: 29]
[INFO] [1777475165.934811964] [listener]: I heard: [Hello World: 30]
[INFO] [1777475166.935431308] [listener]: I heard: [Hello World: 31]
[INFO] [1777475167.936018567] [listener]: I heard: [Hello World: 32]
[INFO] [1777475168.934727692] [listener]: I heard: [Hello World: 33]
[INFO] [1777475169.935843222] [listener]: I heard: [Hello World: 34]
[INFO] [1777475170.935664870] [listener]: I heard: [Hello World: 35]
[INFO] [1777475171.935232891] [listener]: I heard: [Hello World: 36]
[INFO] [1777475172.934978159] [listener]: I heard: [Hello World: 37]
[INFO] [1777475173.934765328] [listener]: I heard: [Hello World: 38]
[INFO] [1777475174.936900488] [listener]: I heard: [Hello World: 39]
[INFO] [1777475175.935248400] [listener]: I heard: [Hello World: 40]
[INFO] [1777475176.935239217] [listener]: I heard: [Hello World: 41]

THE END