标题翻译
Subscribing to remote rospy publisher
问题
我使用rosjava作为订阅者（Subscriber），使用rospy作为发布者（Publisher）实现了发布/订阅功能。然而，我无法从rospy接收到任何消息。我在这里漏掉了什么吗？
在Java中的订阅者部分（假设IP为: 1.1.1.1）：
public void start_on_init() {
nodeConfiguration = NodeConfiguration.newPublic("1.1.1.1");
nodeConfiguration.setMasterUri(new URI("http://localhost:11311/"));
NodeMain listener = new SampleProcessor();
NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
nodeMainExecutor.execute(listener, nodeConfiguration);
}
class SampleProcessor extends AbstractNodeMain {
// ...
public void onStart(ConnectedNode connectedNode) {
Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("sample_topic", std_msgs.String._TYPE);
subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
@Override
public void onNewMessage(std_msgs.String message) {
logger.info(message.getData());
// ...
在Python中的发布者部分（假设IP为: 1.1.1.2）：
sample_publisher = rospy.Publisher("sample_topic", String, queue_size=10)
sample_publisher.publish(some_json_data)
在运行Python脚本之前，通过shell脚本将ROS主节点URI导出为环境变量：
export ROS_MASTER_URI=http://1.1.1.1:11311
英文翻译
I implemented publish/subscribe using rosjava as subscriber and rospy as publisher. However, I do not receive any message from rospy. Did I miss anything here?
SUBSCRIBER IN JAVA (say ip is: 1.1.1.1)
public void start_on_init() {
nodeConfiguration = NodeConfiguration.newPublic("1.1.1.1");
nodeConfiguration.setMasterUri(new URI("http://localhost:11311/"));
NodeMain listener = new SampleProcessor();
NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
nodeMainExecutor.execute(listener, nodeConfiguration);
}
class SampleProcessor extends AbstractNodeMain {
...
public void onStart(ConnectedNode connectedNode) {
Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("sample_topic", std_msgs.String._TYPE);
subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
@Override
public void onNewMessage(std_msgs.String message) {
logger.info(message.getData());
...
PUBLISHER IN PYTHON (say ip is: 1.1.1.2)
sample_publisher = rospy.Publisher("sample_topic", String , queue_size=10)
sample_publisher.publish(some_json_data)
Exported master uri as env variable before running python script using shell script
export ROS_MASTER_URI=http://1.1.1.1:11311
答案1
得分: -1
我认为只有一次机会节点不在同一空间。\nroscore运行在哪里？主节点机器的IP是否作为ROS_MASTER_URI导出到从节点机器？我认为您应该仔细研究ROS中的网络设置这里。\n\n 1: http://wiki.ros.org/ROS/Tutorials/MultipleMachines
英文翻译
I think there is only chance that nodes are not in same space.
Where is roscore running? Is master machine IP exported as ROS_MASTER_URI on slave machine? I think you should hardly study network setup in ROS here
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