首先修改 settings.json 文件

Screenshot from 2022-06-02 21-31-22.png

发布方实现：

#! /usr/bin/env python
import rospy
from ros_pub_sub.msg import Person   #从功能包导入 Person

if __name__ == "__main__":
    rospy.init_node("pub")
    pub = rospy.Publisher("chatter",Person,queue_size = 10)  #此处第二个参数为发布消息的类型，Person

    p = Person()  #创建Person类型的消息 

    p.name = "Lucky_E"
    p.age = 1
    p.height = 1.73
  
    rate = rospy.Rate(1)  #设置发布频率

    while not rospy.is_shutdown():
        pub.publish(p)
        rospy.loginfo("姓名为：%s,年龄为：%d,身高为：%.2f",p.name,p.age,p.height)
        rate.sleep()

订阅方实现：

#! /usr/bin/env python

import rospy
from ros_pub_sub.msg import Person

def doMsg(p):
  rospy.loginfo("接收到的内容为：%s,%d,%.2f",p.name,p.age,p.height)

if __name__ == "__main__":
  rospy.init_node("sub")
  sub = rospy.Subscriber("chatter",Person,doMsg,queue_size = 10)
  rospy.spin()

终端下进入 scripts 目录 执行 chmod +x *.py

修改CmakeLists.txt 文件

Screenshot from 2022-06-02 21-49-39.png

运行结果如下：

Screenshot from 2022-06-02 21-53-26.png