topic 协议的记录

记录1：

https://pypi.org/project/roslibpy/

 

记录2：

 

def message_callback_pause(self, message):
　　pass

def ros_run(self):
    client = roslibpy.Ros(host='192.168.64.20', port=9090)
    client.run()
    listener = roslibpy.Topic(client, '/cmd_vel', 'geometry_msgs/Twist')
    listener.subscribe(lambda message: self.message_callback_pause(message))
    try:
        while True:
            pass
    except KeyboardInterrupt:
        client.terminate()