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通过ROSBridge和下层XBot进行topic订阅和发布 #6
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Hi,
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另外这里没有看到WP之前说的topic,如何告诉移动底盘开始运动呢? |
/stop_run 是告诉pad说话的 |
目前的通信是这样子的:
所以下位机只需要检测 |
最好不要这么频繁的发布消息,毕竟这个不要求实时性,按给你的demo那样子就行,不然通信量太大,容易出问题,而且如果按你这个通信方式,我得重构代码的架构,我之前给你的是触发式的test_pub2.py那样,不是实时监控式的 |
这个issue先实现 /speaker_done。实现 /stop_run 拆分到了 #9 |
OK 降低到 1 Hz 也是可以的;可能不能只是发布一次,websocket在实际环境中可能没有那么稳定 |
移动端接收:/speak_done (std_msg/Bool)
pad端接收:/stop_run (std_msg/Bool)
具体的实现方法见test_pub2.py,在test_pub2.py中假设了语言运行的函数是speakCB,计数50次,完成语音说话。
xbot_navigation/Xbot/src/nav_staff/src/test_pub2.py
https://github.com/DinnerHowe/xbot_navigation/blob/master/Xbot/src/nav_staff/src/test_pub2.py
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