鱼香ros第二章节点学习

在Setup.Py 增加节点Python节点import rclpy from rclpy.node import Node def main(): rclpy.init()#初始化 node Node(python_node)#创建节点 node.get_logger().info(你好 Python 节点);#获取日志打印内容 rclpy.spin(node)#执行节点 rclpy.shutdown()#清理节点C节点if __name____main__: main() #include rclcpp/rclcpp.hpp int main(int argc, char **argv) { rclcpp::init(argc, argv); auto node std::make_sharedrclcpp::Node(cpp_node); RCLCPP_INFO(node-get_logger(), 你好 C 节点); rclcpp::spin(node); rclcpp::shutdown(); return 0; }面向对象编程pythonimport rclpy from rclpy.node import Node class PersonNode(Node):#类 def __init__(self, node_name: str, name: str, age: int) - None:#节点名称 节点变量 super().__init__(node_name) self.age age #变量赋值 self.name name #变量赋值 def eat(self, food_name: str):# 节点名称 节点变量 self.get_logger().info(f我叫{self.name},今年{self.age}岁我现在正在吃{food_name}) def main(): rclpy.init() node PersonNode(person_node, 法外狂徒张三, 18)#类的对象 node.eat(鱼香肉丝) rclpy.spin(node) rclpy.shutdown()python多线程import threading#多线程库 import requests#下载库 class Download: def download(self, url, callback):#函数 函数名 网址 统计的字数 print(f线程:{threading.get_ident()} 开始下载{url})#打印线程编号 response requests.get(url) response.encoding utf-8 callback(url, response.text)#调用回调函数 def start_download(self, url, callback):#开始下载 函数名 网址 统计的字数 thread threading.Thread(targetself.download, args(url, callback)) #多线程下载 线程目标 线程参数 thread.start() #启动线程 def download_finish_callback(url, result): #普通函数 用于回调 print(f{url}下载完成,共{len(result)}字,内容为{result[:5]}...) def main(): d Download() d.start_download(http://localhost:8000/novel1.txt, download_finish_callback) d.start_download(http://localhost:8000/novel2.txt, download_finish_callback) d.start_download(http://localhost:8000/novel3.txt, download_finish_callback)