Hands-On ROS for Robotics Programming by Bernardo Ronquillo Japón

Author:Bernardo Ronquillo Japón [Bernardo Ronquillo Japón]
Language: eng
Format: epub
Tags: COM051360 - COMPUTERS / Programming Languages / Python, COM067000 - COMPUTERS / Hardware / General, COM059000 - COMPUTERS / Computer Engineering
Publisher: Packt Publishing
Published: 2020-02-26T06:15:42+00:00

Creating and running publisher and subscriber nodes

If you have understood how the requirement, distance-sensor.py, publisher script works, then the following subscriber script should be pretty straightforward to follow:

#!/usr/bin/env python

import rospy

from sensor_msgs.msg import Range

def callback(msg):

print msg.data

rospy.loginfo(rospy.get_caller_id() + 'GoPiGo3 measures distance %s mm', msg.data*1000)

rospy.init_node('distance_sensor_subscriber')

sub = rospy.Subscriber('distance_sensor/distance', Range, callback)

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