Template for a ROS Subscriber in Python


A few days ago I wrote a tutorial about a template for a Publisher node in Python. In the same tutorial, I used the template to write a ROS node to generate a random number.

Today, I continue the series of tutorials that ease the work of beginners in ROS, with a template for Subscriber in Python. In addition, in the article, you will find a template implementation with a ROS node that displays the data generated by the Publisher node from the previous tutorial.

Below you will find the template for a ROS Publisher node in Python. All you have to do is copy the text into a ‘. py’ file, delete the extra text and replace the text with capital letters.

Template for a ROS Publisher in Python

Template for a ROS Publisher in Python (image source)

#The ROS Node Subscriber template

#!/usr/bin/env python

#remove or add the library/libraries for ROS
import rospy, time, math, cv2, sys

#remove or add the message type
from std_msgs.msg import String, Float32, Image, LaserScan, Int32

#define function/functions to provide the required functionality
def name_callback(msg):
    make_something_here_with msg.data
    rospy.loginfo("I heard %s", msg.data)

if __name__=='__main__':
    #Add here the name of the ROS. In ROS, names are unique named.
    #subscribe to a topic using rospy.Subscriber class
    sub=rospy.Subscriber('TOPIC_NAME', TOPIC_MESSAGE_TYPE, name_callback)

I used the above template to write a ROS node that will display the random numbers sent by the node created to test the Publisher template.

#!/usr/bin/env python
import rospy

from std_msgs.msg import Int32
from random import randint

def random_callback(msg):
    rospy.loginfo("I heard %s", msg.data)

if __name__=='__main__':
    sub=rospy.Subscriber('rand_no', Int32, random_callback)

To run the above node, navigate to the .py file and make it executable. The command is:

chmod u+x my_python_file.py

After the file is executable, you can run the node.

Step 1: open a new Terminal and run the command:


Step 2: open a new Terminal and run the Publisher node with the following command:

rosrun your_package your_ros_node_that_generates_random_number.py

Step 3: open a new Terminal and run the subscriber node with the following command:

rosrun your_package your_ros_node_for_subscriber.py

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