import rclpy
from rclpy.node import Node
from example_interfaces.msg import Int64
class NumberPublisher(Node):
def __init__(self):
super().__init__('number_publisher')
self.get_logger().info('Beep Boop R2D2 is publishing')
self.counter = 0
# (Message Type, Topic Name, Queue Size)
self.publisher_ = self.create_publisher(Int64, '/number', 10)
self.create_timer(1.0, self.r2d2_number)
def r2d2_number(self):
msg = Int64()
msg.data = self.counter
self.get_logger().info(f'R2D2 says number: {msg.data}')
self.publisher_.publish(msg)
self.counter += 1
def main(args=None):
rclpy.init(args=args)
r2d2_node = NumberPublisher()
rclpy.spin(r2d2_node)
rclpy.shutdown()
if __name__ == "__main__":
main()
### Listener node
import rclpy
from rclpy.node
import Node from example_interfaces.
import Int64
class NumberCounter(Node):def _init_(self):
super()._init_('number_counter')
self.counter = 0
self.subscription = self.create_subscription(
Int64,
'/number',
self.listener_callback,
10
)
self.publisher_ = self.create_publisher(
Int64,
'/number_count',
10
)
self.get_logger().info('Number counter working...')
def listener_callback(self, msg):
self.counter += msg.data
out_msg = Int64()
out_msg.data = self.counter
self.publisher_.publish(out_msg)
self.get_logger().info(
f'Recibido: {msg.data} | Total: {self.counter}'
)
def main(args=None):
rclpy.init(args=args)
node = NumberCounter() rclpy.spin(nodito) rclpy.shutdown()
if name == 'main': main() with the two codes, we have our program:
