xs
47 lines
1.2 KiB
Python
47 lines
1.2 KiB
Python
"""
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pubsub_launch.py —— 同时启动 4 个 pub/sub 节点(2 Python + 2 C++)。
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节点:
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- talker_py (py_pubsub)
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- listener_py (py_pubsub)
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- talker_cpp (cpp_pubsub)
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- listener_cpp (cpp_pubsub)
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全部订阅同一个 topic 'chatter',验证跨语言互通。
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"""
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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Node(
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package='py_pubsub',
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executable='talker',
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name='talker_py',
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output='screen',
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parameters=[{'period_ms': 500, 'topic': 'chatter'}],
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),
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Node(
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package='py_pubsub',
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executable='listener',
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name='listener_py',
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output='screen',
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parameters=[{'topic': 'chatter'}],
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),
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Node(
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package='cpp_pubsub',
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executable='talker',
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name='talker_cpp',
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output='screen',
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parameters=[{'period_ms': 500, 'topic': 'chatter'}],
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),
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Node(
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package='cpp_pubsub',
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executable='listener',
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name='listener_cpp',
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output='screen',
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parameters=[{'topic': 'chatter'}],
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),
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]) |